Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands			1 Months Ended	3 Months Ended
	May 05, 2023	Jun. 10, 2021	Aug. 31, 2022	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022	Jun. 30, 2021
Class Of Stock [Line Items]
Common stock, shares issued				41,833,315		41,684,666
Preferred stock, par value				$ 0.001		$ 0.001
Common stock reserved for issuance				14,526,353		12,173,923
Weighted average grant date fair value per share of option grants				$ 10.21	$ 14.02
Total Intrinsic value of stock options exercised				$ 1,500	$ 100
Unrecognized stock-based compensation cost				$ 52,700
Unrecognized stock-based compensation cost, weighted-average period of recognition				2 years 8 months 12 days
Percentage of number of common stock shares		1.00%
Aggregate offering price of common stock				$ 42		$ 42
Jefferies Group LLC [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock				$ 100,000
Jefferies Group LLC [Member] | Subsequent Event
Class Of Stock [Line Items]
Termination of sale agreement date	May 05, 2023
2017 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for issuance							1,424,110
2021 Equity Incentive Plan
Class Of Stock [Line Items]
Shares authorized for issuance				8,759,876
Common stock initially reserved for issuance							2,775,890
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock initially reserved for issuance		466,000
Unrecognized stock-based compensation cost				$ 1,000
Unrecognized stock-based compensation cost, weighted-average period of recognition				1 year 4 months 24 days
Percentage of eligible earnings withheld to purchase shares of common stock		15.00%
Fair market value percentage price of common stock purchased		85.00%
Minimum increase in shares reserved for issuance				932,000
Maximum
Class Of Stock [Line Items]
Securities issuable			$ 400,000
Maximum | Jefferies Group LLC [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock			$ 100,000