Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions		12 Months Ended
	Feb. 05, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Weighted-average grant-date fair value of stock options granted		$ 7.10	$ 13.14
Unrecognized compensation expense related to stock options		$ 16.2
Unrecognized share based compensation expense, recognition period		2 years 3 months 14 days
Intrinsic value of stock options exercised		$ 2.2
Weighted-average exercise price exercised but unvested at the time of exercise				$ 2.59
Weighted-average grant date fair value exercised but unvested at the time of exercise				$ 1.90
Number unvested options		83,459	200,687	159,197
Weighted average exercise price of options exercised and unvested		$ 2.23	$ 1.90
Proceeds from unvested options exercises		$ 0.2	$ 0.4
Employee Stock Purchase Plan 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding	1.00%
SharebasedCompensationArrangementBySharebasedPaymentAwardPurchasePriceOfCommonStockPercent	85.00%
Number of common stock reserved for issuance	1,800,000
Number of shares issued		34,242	0
Weighted average purchase price		$ 3.41
Employee Stock Purchase Plan 2021 | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance		711,512
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting rights description		vest over 48 months with 25% vesting after one year followed by ratable monthly vesting over three years
Vesting period		48 months
Contractual term		10 years
Weighted-average grant-date fair value of stock options granted		$ 4.78	$ 23.63
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares, Granted		2,009,000	0
Unrecognized compensation expense related to related to restricted stock units		$ 6.9
Unrecognized share based compensation expense, recognition period		1 year 1 month 28 days
Number of units outstanding		1,430,200	0
Tranche One | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		1 year
Vesting percentage		25.00%
Tranche Two | Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		3 years
2015 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	0
2021 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance		570,800
Shares reserved for issuance increase percentage of total number of shares of common stock outstanding	4.00%
2021 Plan | Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units outstanding		1,430,200