Stockholders’ Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2024	Dec. 31, 2023
Class of Stock [Line Items]
Options issued and outstanding (in shares)	582,593	662,499
Total shares of common stock reserved for future issuance (in shares)	2,224,073	2,028,375
2015 Equity Incentive Plan
Class of Stock [Line Items]
Options issued and outstanding (in shares)	335,608	410,305
Shares available for future grants (in shares)		0
2021 Equity Incentive Plan
Class of Stock [Line Items]
Options issued and outstanding (in shares)	246,985	252,195
Shares available for future grants (in shares)	778,488	564,568
2021 Equity Incentive Plan | Restricted stock units
Class of Stock [Line Items]
Stock unit outstanding (in shares)	489,973	513,205
2021 Equity Incentive Plan | PSUs
Class of Stock [Line Items]
Stock unit outstanding (in shares)	45,870	26,255
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Shares available for future grants (in shares)	327,149	261,848