Common Stock and Preferred Stock - Schedule of Shares Reserved for Future Issuance Under Equity Compensation Plans (Details) - shares	Sep. 30, 2024	Dec. 31, 2023
Class of Stock
Shares of common stock reserved for issuance (in shares)	10,306,668	9,220,192
Future awards under the 2021 Stock Option and Incentive Plan
Class of Stock
Shares of common stock reserved for issuance (in shares)	1,197,800	1,697,832
Exercise of outstanding stock options
Class of Stock
Shares of common stock reserved for issuance (in shares)	5,502,085	5,414,360
Vesting of outstanding restricted stock units
Class of Stock
Shares of common stock reserved for issuance (in shares)	2,014,608	1,268,461
Future awards under the 2021 Employee Stock Purchase Plan
Class of Stock
Shares of common stock reserved for issuance (in shares)	1,153,675	839,539
Vesting of outstanding performance stock units
Class of Stock
Shares of common stock reserved for issuance (in shares)	438,500	0