Equity Incentive Plans - Summary of Assumptions under Employee Stock Purchase Plan (Details) - 2021 Employee Stock Purchase Plan	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, Minimum	75.00%	73.00%
Expected volatility, Maximum	79.00%	75.00%
Expected dividend yield	0.00%	0.00%
Expected term (in years)	6 months	6 months
Risk-free interest rate, Minimum	4.65%	0.10%
Risk-free interest rate, Maximum	5.44%	4.65%