Share-based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 01, 2022	Dec. 31, 2023	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense		$ 9,933	$ 12,856
Intrinsic value of options exercised		29	1,416
Intrinsic value of options outstanding		$ 763	$ 1,489
Options outstanding, weighted-average remaining life		4 years 9 months 3 days	5 years 9 months 25 days
Aggregate intrinsic values, vested and exercisable		$ 746	$ 1,489
Weighted average remaining contractual term, vested and exercisable		4 years 7 months 17 days	5 years 6 months 7 days
Grant date fair value of options vested		$ 1,153	$ 3,958
Grant date fair value of options granted		$ 171	$ 91
Weighted-average grant date fair value of options granted (in dollars per share)		$ 1.26	$ 15.97
Stock options vested and expected to vest (in shares)		463,168
Stock options vested and expected to vest, intrinsic value		$ 763
Stock options vested and expected to vest, weighted-average exercise price (in dollars per share)		$ 16.03
Stock options vested and expected to vest, weighted-average remaining life		4 years 9 months 3 days
Aggregated fair value of RSUs vested		$ 10,080	$ 5,239
Employee stock purchase plan, average purchase price of shares purchased (in dollars per share)		$ 4.96	$ 23.80
Aggregate intrinsic value of shares purchased under employee stock purchase plan		$ 38	$ 64
Unrecognized stock-based compensation costs related to non-vested options		1,070
Capitalized share-based compensation attributable to internally developed software		$ 0	$ 36
Common Stock
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Issuance of common stock for employee stock purchase plan (in shares)		43,274	17,937
2021 Incentive Award Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Shares authorized for issuance (in shares)		2,592,830,000
Annual increase, percent of outstanding common stock		5.00%
Annual increase period		10 years
Shares of common stock reserved for issuance (in shares)		2,531,001,000
Number of shares available for grant (in shares)		532,332
Options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense		$ 1,199	$ 3,448
Vesting period		4 years
Unrecognized share-based compensation cost, period for recognition		11 months 15 days
Options | Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		10 years
Options | Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		25.00%
RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense		$ 7,510	8,206
Aggregated fair value of RSUs granted		$ 5,274	$ 18,650
Granted (in shares)		1,331,899	545,692
Vested (in shares)		286,601	94,552
Unrecognized share-based compensation cost, period for recognition		1 year 11 months 1 day
Unrecognized stock-based compensation costs related to unvested RSUs		$ 9,506
RSUs | Director
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Restricted Stock Units (RSUs), Four Year Vesting Term
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		4 years
Restricted Stock Units (RSUs), Four Year Vesting Term | Share-based Payment Arrangement, Tranche One
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		25.00%
Restricted Stock Units (RSUs), Two Year Vesting Term
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		2 years
Restricted Stock Units (RSUs), Two Year Vesting Term | Share-based Payment Arrangement, Tranche Two
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		50.00%
Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock plan discount	15.00%
Stock plan offering period	6 months
Performance Restricted Stock Units
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Stock-based compensation expense		$ 663	$ 428
Aggregated fair value of RSUs granted		$ 274	$ 4,817
Granted (in shares)		0	132,433
Vested (in shares)		7,518	0
Unrecognized share-based compensation cost, period for recognition		1 year 6 months 21 days
Unrecognized stock-based compensation costs related to unvested RSUs		$ 482