Amount of liability related to early exercises of non-vested stock options.

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Number of stock shares issued from early exercised stock options during the current period.

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Aggregate number of common shares reserved for future issuance.

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cash inflow from exercise of option under share-based payment arrangement.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Number of shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Maximum number of shares that may be issued in accordance with the plan as a proportion of outstanding capital stock.

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Percentage of vesting of award under share-based payment arrangement.

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Stock Based Compensation - Narrative (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	12 Months Ended
	Oct. 31, 2021	Dec. 31, 2022	Dec. 31, 2021
Stock-based compensation
Future awards (in shares)		8,032,687	6,583,887
Vesting of early exercised options (in shares)		53,741	111,756
Unvested early exercises of stock options		$ 200	$ 300
Proceeds from exercise of stock options		$ 195	$ 410
ESPP
Stock-based compensation
Future awards (in shares)		563,115	278,762
Stock Options
Stock-based compensation
Future awards (in shares)		5,028,850	3,461,870
Aggregate intrinsic value of stock options exercised		$ 1,000	$ 2,800
Proceeds from exercise of stock options		$ 200	$ 900
Weighted-average grant-date fair value of stock options granted (in dollars per share)		$ 7.51	$ 9.39
Unrecognized compensation cost		$ 24,700
Unrecognized compensation cost, weighted-average period for recognition		2 years 9 months 25 days
Outstanding restricted stock
Stock-based compensation
Vesting period		4 years
Future awards (in shares)		463,964	0
Unrecognized compensation cost		$ 4,600
Unrecognized compensation cost, weighted-average period for recognition		3 years 2 months 15 days
Restricted stock units, vested (in shares)		0	0
Outstanding restricted stock \| Tranche One
Stock-based compensation
Vesting percentage		25.00%
Outstanding restricted stock \| Tranche Two
Stock-based compensation
Vesting percentage		25.00%
Outstanding restricted stock \| Tranche Three
Stock-based compensation
Vesting percentage		25.00%
Outstanding restricted stock \| Tranche Four
Stock-based compensation
Vesting percentage		25.00%
2021 Plan
Stock-based compensation
Shares annual increase as percentage		4.00%
Stock authorized for issuance (in shares)		5,262,917	3,986,270
Vesting period		4 years
2016 Stock Plan
Stock-based compensation
Stock authorized for issuance (in shares)		2,206,655	2,318,855
2021 Employee Stock Purchase Plan \| ESPP
Stock-based compensation
Shares annual increase as percentage	1.00%
Stock authorized for issuance (in shares)	278,762
Shares remaining available for future issuance (in shares)	557,524