Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options granted	1,449,975	1,543,219
Weighted-average grant-date fair value of stock options granted	$ 1.84	$ 3.98
Unrecognized compensation expense related to stock options	$ 14.0
Unrecognized share based compensation expense, recognition period	2 years 7 months 6 days
Number unvested options	7,725
Weighted average exercise price of options exercised and unvested	$ 4.9
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	0	0
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
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Restricted stock units granted	1,070,025	645,360
Weighted average grant date fair value of restricted stock, granted	$ 2.41	$ 5.55
Unrecognized compensation expense related to related to restricted stock units	$ 6.0
Unrecognized share based compensation expense, recognition period	2 years 2 months 12 days
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	1,968,620
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
2023 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	3,127,811
2021 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for future issuance	1,845,382