Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended		3 Months Ended		6 Months Ended
	Jun. 10, 2021	May 31, 2023	Aug. 31, 2022	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022	Jun. 30, 2021
Class Of Stock [Line Items]
Common stock, shares issued				41,891,226		41,891,226		41,684,666
Preferred stock, par value				$ 0.001		$ 0.001		$ 0.001
Common stock reserved for issuance				14,468,442		14,468,442		12,173,923
Weighted average grant date fair value per share of option grants						$ 10.09	$ 12.65
Total Intrinsic value of stock options exercised						$ 1,500	$ 100
Unrecognized stock-based compensation cost				$ 49,300		$ 49,300
Unrecognized stock-based compensation cost, weighted-average period of recognition						2 years 6 months
Percentage of number of common stock shares	1.00%
Aggregate offering price of common stock				42		$ 42		$ 42
Termination of sale agreement month and year		2023-05
BofA Securities, Inc [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock				$ 150,000		$ 150,000
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		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				$ 600		$ 600
Unrecognized stock-based compensation cost, weighted-average period of recognition						1 year 6 months
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
Stock-based compensation expense				$ 400	$ 200	$ 600	$ 300
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
Maximum | BofA Securities, Inc [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock		$ 150,000