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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
6 Months Ended 12 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Stock-based compensation      
Vesting of early exercised options (in shares) 34,120   53,741
Future awards under the 2021 Employee Stock Purchase Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 861,286   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) $ 8.49 $ 7.00  
Unrecognized compensation cost $ 23.4    
Unrecognized compensation cost, weighted-average period for recognition 2 years 5 months 19 days    
Restricted Stock      
Stock-based compensation      
Unrecognized compensation cost $ 7.6    
Unrecognized compensation cost, weighted-average period for recognition 3 years 2 months 23 days    
2021 Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 6,417,400   5,262,917
2016 Stock Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 2,153,734   2,206,655