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Equity Incentive Plans - Additional Information (Details) - USD ($)
3 Months Ended 12 Months Ended
Jan. 01, 2023
Jan. 01, 2022
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock vesting period     4 years      
Weighted-average grant date fair value of options granted     $ 1.53      
Intrinsic value of the stock options exercised     $ 0 $ 0    
Shares issued     58,194,818   58,221,760  
Early exercise of stock options repurchase right lapse period     180 days      
Shares remained subject to the right of repurchase as a result of the early exercised stock options     391,928   554,695  
Stock Issued During Period Shares Stock Options Exercised And Repurchased     26,942 0    
Shares reserved for future issuance     17,395,191   13,893,161  
Stock-based compensation expense     $ 3,263,000 $ 3,342,000    
2021 Employee Stock Purchase Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares issued     0 0    
Accrued liabilities     $ 100,000   $ 100,000  
Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock vesting period           4 years
Restricted stock awards granted     0 0    
Share-based compensation, liabilities for restricted stock awards, cancelled     0 0    
Share-based compensation, liabilities for restricted stock awards, vested     604,734   553,443  
Outstanding Stock Option Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense     $ 3,152,000 $ 3,194,000    
Unrecognized stock-based compensation expense     $ 27,500,000   $ 31,000,000.0  
Unrecognized stock-based compensation expense, expected to be recognized period     2 years 10 months 24 days 2 years 7 months 6 days    
Outstanding Stock Option Awards | Non Employees            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Stock-based compensation expense     $ 400,000 $ 0    
Accrued Expenses and Other Liabilities            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Remaining liability related to early exercised shares     $ 0.1   $ 100,000  
2020 Stock Option and Grant Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share based compensation arrangement by share based payment award, granted period     10 years      
Common stock vesting period     4 years      
Share based compensation arrangement by share based payment award, exercise price percentage     10.00%      
2020 Stock Option and Grant Plan | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share based compensation arrangement by share based payment award, exercise price percentage     100.00%      
2020 Stock Option and Grant Plan | Stock Option Grant to 10.0% Stockholder            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock vesting period     5 years      
2020 Stock Option and Grant Plan | Stock Option Grant to 10.0% Stockholder | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share based compensation arrangement by share based payment award, exercise price percentage     110.00%      
2020 Stock Option and Grant Plan | Restricted Stock Units (RSUs)            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Restricted stock awards granted           832,983
2021 Stock Option And Grant Plan [Member]            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Increase in shares available for issuance 2,900,541 2,911,088        
2021 Stock Option and Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Common stock vesting period     10 years      
Shares reserved for future issuance     5,636,000      
Shares reserved and available for issuance     5.00%      
Grant date fair value of year one     $ 1,000,000.0      
Grant date fair value of year thereafter     $ 750,000.0      
Increase in shares available for issuance     6,235,813      
ESPP compensation expenses     $ 25,000,000      
Percentage of lower of the fair market value of common stock at the beginning of the offering period or at the end of each applicable purchase period     85.00%      
2021 Stock Option and Incentive Plan | Minimum            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Share based compensation arrangement by share based payment award, exercise price percentage     100.00%