Common Stock and Preferred Stock - Schedule of Shares Reserved for Future Issuance under Equity Compensation Plans (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class of Stock
Total shares of authorized common stock reserved for future issuance (in shares)	9,220,192	8,032,687
2021 Plan [Member]
Class of Stock
Total shares of authorized common stock reserved for future issuance (in shares)	1,697,832	1,976,758
Employee Stock Option
Class of Stock
Total shares of authorized common stock reserved for future issuance (in shares)	5,414,360	5,028,850
Restricted Stock
Class of Stock
Total shares of authorized common stock reserved for future issuance (in shares)	1,268,461	463,964
Employee Stock
Class of Stock
Total shares of authorized common stock reserved for future issuance (in shares)	839,539	563,115