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Common Stock - Additional Information (Details) - $ / shares
1 Months Ended 3 Months Ended 6 Months Ended 12 Months Ended
Jun. 29, 2021
Jun. 28, 2021
Jun. 18, 2021
Jun. 30, 2020
Mar. 31, 2020
Jun. 30, 2021
Jun. 30, 2021
Dec. 31, 2020
May 07, 2021
Apr. 30, 2020
Class Of Stock [Line Items]                    
Common stock, shares authorized           300,000,000 300,000,000 80,000,000    
Common stock, par or stated value per share           $ 0.00001 $ 0.00001 $ 0.00001    
Common stock voting rights             one      
Common stock, shares, issued           55,979,002 55,979,002 10,279,102    
Vesting period description             The shares of the Company’s common stock issued to its founders for their services as an employee, advisor or consultant vest monthly over four years with one year cliff from the vesting commencement date.      
Common stock vesting period             4 years      
Common stock vesting cliff period             1 year      
Aggregate Common Stock Vested       912,212            
Diluted number of shares         7,273,848          
Stanford Exclusive License Agreement                    
Class Of Stock [Line Items]                    
Common stock, shares, issued               600,000 640,861  
Number of shares repurchased by exercising right to repurchase     624,845              
Founder                    
Class Of Stock [Line Items]                    
Common stock nonvested number of shares           3,354,492 3,354,492 5,169,202    
Common stock awards were unvested and expected to vest             3 years 3 years 6 months    
Founder | Restricted Common Stock                    
Class Of Stock [Line Items]                    
Public offering price per share         $ 0.00002          
Common stock, shares, issued         6,081,413          
Investor | Restricted Common Stock                    
Class Of Stock [Line Items]                    
Public offering price per share                   $ 0.00002
Common stock, shares, issued                   2,467,104
Common Stock                    
Class Of Stock [Line Items]                    
Conversion of stock   30,761,676                
Common Stock | Initial Public Offering                    
Class Of Stock [Line Items]                    
Conversion of stock   30,761,676                
Issuance of common stock, Shares 14,000,000         14,000,000        
Public offering price per share $ 17.00                  
Redeemable Convertible Preferred Stock | Initial Public Offering                    
Class Of Stock [Line Items]                    
Conversion of stock             30,761,676