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Equity Incentive Plans - Additional Information (Details) - USD ($)			3 Months Ended		9 Months Ended		12 Months Ended
	Jan. 01, 2023	Jan. 01, 2022	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 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			$ 1.89		$ 1.56
Shares issued			57,971,910		57,971,910		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			111,600		111,600		554,695
Stock Issued During Period Shares Stock Options Exercised And Repurchased			26,188	73,735	216,656	124,448
Intrinsic value of the stock options exercised			$ 10,367		$ 65,414
Shares reserved for future issuance			17,465,405		17,465,405		13,893,161
Stock-based compensation expense			$ 2,161,000	$ 3,210,000	$ 8,269,000	$ 9,912,000
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued			65,222	207,137	65,222	207,137
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	0	0
Share-based compensation, liabilities for restricted stock awards, cancelled			1,542	5,140	11,136	5,140
Share-based compensation, liabilities for restricted stock awards, vested					703,035		553,443
Outstanding Stock Option Awards
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense			$ 2,159,000	$ 3,150,000	$ 8,168,000	$ 9,590,000
Unrecognized stock-based compensation expense			9,900,000		$ 9,900,000		$ 31,000,000
Unrecognized stock-based compensation expense, expected to be recognized period					1 year 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	$ 800,000	$ 1,100,000	$ 900,000
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]
Share based compensation arrangement by share based payment award, granted period					10 years
Increase in shares available for issuance	2,911,088	2,900,541
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		5,636,000
Shares reserved and available for issuance					5.00%
Grant date fair value of year one					$ 1,000,000
Grant date fair value of year thereafter					$ 750,000
Increase in shares available for issuance					9,831,161
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%