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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, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Shares reserved for future issuance     17,465,405   17,465,405   13,893,161 10,034,853  
Increase in shares available for issuance   564,000              
Early exercise of stock options repurchase right lapse period         180 days   180 days    
Weighted-average grant date fair value of options granted     $ 1.89   $ 1.56   $ 5.21    
Intrinsic value of the stock options exercised     $ 10,367   $ 65,414   $ 200,000 $ 5,000,000  
Stock Issued During Period Shares Stock Options Exercised And Repurchased     26,188 73,735 216,656 124,448 189,414 138,596  
Shares remained subject to the right of repurchase as a result of the early exercised stock options     111,600   111,600   554,695 1,195,631  
Remaining liability related to early exercised shares             $ 100,000 $ 300,000  
Stock-based compensation expense     $ 2,161,000 $ 3,210,000 $ 8,269,000 $ 9,912,000 $ 13,534,000 $ 7,871,000  
Shares issued     57,971,910   57,971,910   58,221,760 58,010,823  
Non-employees                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Unrecognized stock-based compensation expense             $ 30,500,000    
Unrecognized stock-based compensation expense, expected to be recognized period             3 years 3 months 18 days    
2021 Employee Stock Purchase Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Shares reserved for future issuance             564,000    
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%    
Accrued liabilities             $ 100,000    
Shares issued     65,222 207,137 65,222 207,137      
Maximum | 2021 Employee Stock Purchase Plan                  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                  
Percentage of eligible compensation to purchase shares of the Company's common stock at a discount through payroll deductions             15.00%    
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 5,140 0  
Share-based compensation, liabilities for restricted stock awards, vested         703,035   553,443 345,966  
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 $ 13,132,000 $ 7,647,000  
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             $ 2.2 $ 300,000  
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    
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 | 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 Incentive 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   4 years    
Shares reserved for future issuance     5,636,000   5,636,000   5,636,000    
Shares reserved and available for issuance             5.00%    
Increase in shares available for issuance   2,900,541     9,831,161   5,382,907    
Grant date fair value of year one             $ 1,000,000    
Grant date fair value of year thereafter         $ 750,000   $ 750,000    
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%        
Grant date fair value of year one         $ 1,000,000        
ESPP compensation expenses         $ 25,000,000        
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%   100.00%    
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        
Shares reserved and available for issuance         5.00%        
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        
Common stock vesting period         10 years        
Increase in shares available for issuance 2,911,088 2,900,541