Stockholders' Equity (Deficit) - Additional Information (Details) - USD ($)		1 Months Ended				12 Months Ended
	Mar. 16, 2021	Feb. 28, 2021	Jan. 31, 2021	Oct. 31, 2020	Mar. 31, 2020	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2017	Dec. 31, 2016	Dec. 31, 2019
Class Of Stock [Line Items]
Common stock, shares authorized	400,000,000					400,000,000	325,000,000
Preferred stock, shares authorized	40,000,000					40,000,000	0
Net cash proceeds from sale of convertible preferred stock						$ 73,749,000	$ 73,826,000
Dividends declared							$ 0
Minimum pre-money valuation						$ 330,000,000.0
Number of shares vested						(37,097)	(34,623)
Remaining unvested shares						17,606	54,703			70,266
Common stock reserved for issuance						8,678,836	28,802,418
Weighted average grant date fair value of options granted						$ 12.15	$ 5.93
Total intrinsic value of options exercised						$ 2,500,000	$ 300,000
Total intrinsic value of options vested						$ 21,900,000	900,000
Unvested shares early exercised option right to repurchase shares vesting period						4 years
Early exercise liability						$ 35,000	100,000
Stock compensation expense						10,698,000	$ 840,000
Unrecognized compensation cost related to unvested stock-based awards						$ 45,400,000
Unrecognized compensation cost is expected to be recognized over a weighted average period						3 years 7 months 6 days
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for issuance		360,000
Common stock, shares available for grant						333,850
Annually increase amount equal to lessor of percentage of shares of common stock outstanding on the final day of the immediately preceding calendar year		1.00%
Participants to purchase common stock through payroll deductions maximum percentage of eligible compensation		20.00%
Stock compensation expense		$ 500,000
Issuance of common stock under employee stock purchase plan, shares						26,150
Outstanding liability related to employee contributions for shares pending issuance						$ 100,000
Stock Option Modification
Class Of Stock [Line Items]
Stock compensation expense						$ 4,600,000
2017 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for issuance								5,524,354
2021 Incentive Award Plan
Class Of Stock [Line Items]
Common stock, shares available for grant		3,600,000				1,856,063
Annually increase amount equal to lessor of percentage of shares of common stock outstanding on the final day of the immediately preceding calendar year		5.00%
2017 Plan and 2021 Plan
Class Of Stock [Line Items]
Maximum options granted period						10 years
Award subject to continuous service						36 months
2017 Plan and 2021 Plan | Tranche One
Class Of Stock [Line Items]
Award vesting period						1 year
Percentage of award vested						25.00%
Cedars-Sinai | Restricted Common Stock
Class Of Stock [Line Items]
Award vesting period								3 years
Number of shares vested							111,667
Remaining unvested shares							0
Number of shares granted								335,000
Minimum
Class Of Stock [Line Items]
Threshold proceeds for conversion						$ 75,000,000.0
Convertible Preferred Stock
Class Of Stock [Line Items]
Warrant to purchase of convertible preferred stock	148,848
Common stock reserved for issuance							16,086,426
Series C Convertible Preferred Stock
Class Of Stock [Line Items]
Issuance of convertible preferred stock for cash, net of issuance costs, shares					28,063,500
Net cash proceeds from sale of convertible preferred stock					$ 28,000,000.0
Maximum aggregate amount convertible preferred shares holders entitled to receive price per share						$ 3.00
Series D-1 Convertible Preferred Stock
Class Of Stock [Line Items]
Issuance of convertible preferred stock for cash, net of issuance costs, shares				61,066,216
Net cash proceeds from sale of convertible preferred stock				$ 46,200,000
Shares issued, price per share				$ 0.7558
Convertible preferred stock issued for deferred purchase price obligation, shares				5,088,851
Convertible preferred stock, shares issued for deferred purchase price obligation, value				$ 3,800,000
Maximum aggregate amount convertible preferred shares holders entitled to receive price per share						$ 2.2674
Series D-2 Convertible Preferred Stock
Class Of Stock [Line Items]
Issuance of convertible preferred stock for cash, net of issuance costs, shares			93,995,300	94,007,051		86,775,740
Shares issued, price per share				$ 0.8510
Convertible preferred stock issued for deferred purchase price obligation, shares			7,219,560	7,231,311		7,219,560
Convertible preferred stock, shares issued for deferred purchase price obligation, value			$ 6,100,000	$ 6,200,000		$ 6,144,000
Change in fair value of preferred stock purchase right liability						$ 1,000,000.0
Maximum aggregate amount convertible preferred shares holders entitled to receive price per share						$ 2.553
Series D Convertible Preferred Stock
Class Of Stock [Line Items]
Issuance of convertible preferred stock for cash, net of issuance costs, shares							61,066,216
Fair value of preferred stock purchase right liability				$ 3,900,000
Series A Convertible Preferred Stock
Class Of Stock [Line Items]
Maximum aggregate amount convertible preferred shares holders entitled to receive price per share						1.50
Series B Convertible Preferred Stock
Class Of Stock [Line Items]
Maximum aggregate amount convertible preferred shares holders entitled to receive price per share						$ 2.25
Founder Stock
Class Of Stock [Line Items]
Shares issued, price per share								$ 0.01	$ 0.01
Award vesting period								4 years	4 years
Number of shares vested							48,750
Remaining unvested shares							0
Common Stock
Class Of Stock [Line Items]
Conversion of convertible preferred stock into common stock at initial public offering, shares						25,485,955
Issuance of common stock under employee stock purchase plan, shares						26,150
Common Stock | Convertible Preferred Stock
Class Of Stock [Line Items]
Conversion of convertible preferred stock into common stock at initial public offering, shares	25,485,955
Common Stock | Convertible Preferred Stock Warrant Liability
Class Of Stock [Line Items]
Conversion of convertible preferred stock into common stock at initial public offering, shares	14,884