Equity Incentive Plans - Additional Information (Details) - USD ($)			12 Months Ended
	Jan. 01, 2023	Jan. 01, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock vesting period			4 years
Shares reserved for future issuance			17,428,919	13,893,161
Increase in shares available for issuance	564,000	564,000
Early exercise of stock options repurchase right lapse period			180 days
Common stock, shares, issued			58,008,396	58,221,760
Weighted-average grant date fair value of options granted				$ 1.56
Intrinsic value of the stock options exercised			$ 100,000	$ 200,000
Stock Issued During Period Shares Stock Options Exercised And Repurchased			227,792	189,414
Shares remained subject to the right of repurchase as a result of the early exercised stock options			68,868	554,695
Stock-based compensation expense			$ 10,574,000	$ 13,534,000
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares, issued			65,222	333,155
Accrued liabilities				$ 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			163,830	5,140
Share-based compensation, liabilities for restricted stock awards, vested			751,758	553,443
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense			$ 10,471	$ 13,132
Unrecognized stock-based compensation expense			$ 7,400,000	$ 31,000,000
Unrecognized stock-based compensation expense, expected to be recognized period			1 year 6 months	2 years 7 months 6 days
Employee Stock Option | Non-employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock-based compensation expense			$ 2,600,000	$ 2,200,000
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
Share based compensation arrangement by share based payment award, exercise price percentage			10.00%
Common stock vesting period			4 years
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 | Maximum
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 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%
Increase in shares available for issuance	2,911,088	2,900,541	10,798,817
Grant date fair value of year one			$ 1,000,000
Grant date fair value of year thereafter			750,000
Employee Stock Ownership Plan (ESOP), Compensation Expense			$ 25,000
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%