Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	2,108,219	1,948,264
Weighted-average grant-date fair value of options granted	$ 3.76	$ 5.65
Unrecognized compensation expense related to stock options	$ 19.2
Unrecognized share based compensation expense, recognition period	2 years 4 months 24 days
Number unvested options	30,704
Weighted average exercise price of options exercised and unvested	$ 1.36
Proceeds from unvested options exercises	$ 0.1
Employee Stock Purchase Plan 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issued	44,977	0
Weighted average purchase price	$ 3.76
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 the remaining three years
Vesting period	48 months
Contractual term	10 years
Weighted-average grant-date fair value of options granted	$ 3.76	$ 8.3
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized share based compensation expense, recognition period	1 year 9 months 18 days
Restricted stock units granted	645,360	1,040,500
Weighted average grant date fair value of restricted stock, granted	$ 5.55	$ 6
Unrecognized compensation expense related to related to restricted stock units	$ 6.2
Common Stock | Employee Stock Purchase Plan 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	666,535
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
2021 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	796,957