Stockholders’ Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Class of Stock [Line Items]
Options issued and outstanding (in shares)	12,268,603	13,249,983
Total shares of common stock reserved for future issuance (in shares)	45,409,139	40,567,495
2015 Equity Incentive Plan
Class of Stock [Line Items]
Options issued and outstanding (in shares)	7,237,212	8,206,091
Shares available for future grants (in shares)	0	0
2021 Equity Incentive Plan
Class of Stock [Line Items]
Options issued and outstanding (in shares)	5,031,391	5,043,892
Shares available for future grants (in shares)	16,827,780	11,291,364
2021 Equity Incentive Plan | Restricted stock units
Class of Stock [Line Items]
Stock unit outstanding (in shares)	8,852,356	10,264,090
2021 Equity Incentive Plan | PSUs
Class of Stock [Line Items]
Stock unit outstanding (in shares)	917,411	525,108
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Shares available for future grants (in shares)	6,542,989	5,236,950