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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
3 Months Ended 12 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Stock-based compensation      
Vesting of early exercised options (in shares) 43,588   53,741
Unvested early exercises of stock options $ 0.2   $ 0.2
Future awards under the 2021 Employee Stock Purchase Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 877,600   563,115
Stock options to purchase common stock      
Stock-based compensation      
Weighted-average grant-date fair value of stock options granted (in dollars per share) $ 8.17 $ 7.39  
Unrecognized compensation cost $ 25.2    
Unrecognized compensation cost, weighted-average period for recognition 2 years 8 months 15 days    
Restricted Stock      
Stock-based compensation      
Unrecognized compensation cost $ 7.8    
Unrecognized compensation cost, weighted-average period for recognition 3 years 5 months 1 day    
2021 Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 6,425,669   5,262,917
2016 Stock Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 2,191,640   2,206,655