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Equity Incentive Plans - Additional Information (Details) - USD ($)
1 Months Ended 12 Months Ended
Nov. 30, 2021
Jun. 30, 2021
Dec. 31, 2021
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     10,034,853 14,714,687
Weighted-average grant date fair value of options granted     $ 6.13  
Intrinsic value of the stock options exercised     $ 5,000,000.0 $ 2,800,000
Options early exercised and repurchased     138,596  
Shares remained subject to the right of repurchase as a result of the early exercised stock options     1,195,631 865,129
Stock-based compensation expense     $ 7,871,000 $ 177,000
Unrecognized stock-based compensation expense     $ 30,500,000 $ 2,900,000
Unrecognized stock-based compensation expense, expected to be recognized period     3 years 3 months 18 days 3 years 8 months 12 days
Accrued Expenses and Other Current Liabilities        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Remaining liability related to early exercised shares     $ 300,000  
Other Liabilities        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Remaining liability related to early exercised shares       $ 300,000
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%    
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period 39,894      
Accrued liabilities     $ 100,000  
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  
Weighted average grant date fair value       $ 0.05
Total fair value of awards       $ 36,000.0
Share-based compensation, liabilities for restricted stock awards, cancelled     0 0
Restricted stock awards vested     345,966 0
Outstanding Stock Option Awards        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense     $ 7,647,000 $ 171,000
Outstanding Stock Option Awards | Non-employees        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense     $ 300,000 $ 0.0
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 [Member]        
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 [Member]        
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%  
Grant date fair value of year one     $ 1,000,000.0  
Grant date fair value of year thereafter     $ 750,000.0  
Options early exercised and repurchased     138,596  
2021 Stock Option and Incentive Plan | Minimum [Member]        
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%