Stockholders' Equity - Summary of Fair Value of Stock of the Stock Purchase Right Under ESPP (Details)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	4.00%
Risk-free interest rate, Minimum		1.50%
Risk-free interest rate, Maximum		1.70%
Expected volatility	74.00%
Expected volatility, Minimum		73.20%
Expected volatility, Maximum		74.60%
Expected term (in years)	6 years 1 month 6 days	6 years 1 month 6 days
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate, Minimum	1.40%	0.03%
Risk-free interest rate, Maximum	4.80%	0.33%
Expected volatility, Minimum	56.50%	71.60%
Expected volatility, Maximum	79.50%	83.90%
Minimum | 2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 months	6 months
Maximum | 2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	1 year 6 months	1 year 7 months 20 days