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Common Stock - Additional Information (Details) - $ / shares
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Jul. 02, 2021
Jun. 29, 2021
Jun. 28, 2021
Jun. 18, 2021
Jun. 30, 2021
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Jun. 30, 2021
Sep. 30, 2022
Dec. 31, 2021
May 07, 2021
Dec. 31, 2020
Apr. 30, 2020
Class Of Stock [Line Items]                            
Common stock, shares authorized                   300,000,000 300,000,000      
Common stock, par or stated value per share                   $ 0.00001 $ 0.00001      
Common stock voting rights                   one        
Common stock, shares, issued                   58,149,317 58,010,823      
Vesting period description                   The shares of the Company’s common stock issued to its founders for their services as an employee, advisor, or consultant vest monthly over four years with one year cliff from the vesting commencement date.        
Common stock vesting period                   4 years        
Common stock vesting cliff period                   1 year        
Aggregate Common Stock Vested           912,212                
Diluted number of shares             7,273,848              
Stanford Exclusive License Agreement                            
Class Of Stock [Line Items]                            
Common stock, shares, issued                       640,861 600,000  
Number of shares repurchased by exercising right to repurchase       624,845                    
Remaining shares not exercised right to purchase                   16,016        
Founder                            
Class Of Stock [Line Items]                            
Common stock nonvested number of shares                   2,261,509 3,230,746      
Common stock awards were unvested and expected to vest                     2 years 6 months      
Founder | Restricted Common Stock                            
Class Of Stock [Line Items]                            
Public offering price per share             $ 0.00002              
Common stock, shares, issued             6,081,413              
Investor | Restricted Common Stock                            
Class Of Stock [Line Items]                            
Public offering price per share                           $ 0.00002
Common stock, shares, issued                           2,467,104
Common Stock                            
Class Of Stock [Line Items]                            
Conversion of stock     30,761,676                      
Common Stock | IPO                            
Class Of Stock [Line Items]                            
Conversion of stock     30,761,676                      
Issuance of common stock, Shares 2,100,000 14,000,000           2,100,000 14,000,000          
Public offering price per share $ 17.00 $ 17.00                        
Common Stock | Underwriters                            
Class Of Stock [Line Items]                            
Issuance of common stock, Shares 2,100,000 2,100,000                        
Redeemable Convertible Preferred Stock | IPO                            
Class Of Stock [Line Items]                            
Conversion of stock         30,761,676