Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended			12 Months Ended
	Jun. 10, 2021	Jul. 31, 2023	May 31, 2023	Aug. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Jun. 30, 2021
Class Of Stock [Line Items]
Common stock, shares issued					46,262,759	41,684,666
Pre funded common stock warrants exercise price					$ 0.001
Maximum exercisable prefunded warrants percentage with common stock					19.90%
Common stock reserved for issuance					14,834,109	12,173,923
Weighted average grant date fair value per share of option grants					$ 10.02	$ 12.35
Total Intrinsic value of stock options exercised					$ 1,900	$ 100
Unrecognized stock-based compensation cost					$ 34,100
Unrecognized stock-based compensation cost, weighted-average period of recognition					2 years 2 months 12 days
Percentage of number of common stock shares	1.00%
Aggregate offering price of common stock					$ 46	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
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					9,169,849
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					$ 700
Unrecognized stock-based compensation cost, weighted-average period of recognition					1 year 7 months 6 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
Stock-based compensation expense					$ 900	$ 600
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
Underwritten Offering
Class Of Stock [Line Items]
Common stock, shares issued		4,153,717
Price of common stock sold per share		$ 12.46
Pre funded common stock warrants exercise price		$ 0.001
Underwritten Offering | Pre-funded Warrants
Class Of Stock [Line Items]
Warrants to purchase shares of common stock		583,483
Price of warrants sold per share		$ 12.459
Gross proceeds from issuance of common stock		$ 59,000
Aggregate fees amount related to offering included in underwriting discounts commissions and offering expenses		2,500
Net proceeds after deducting underwriting discounts and commissions, and offering expenses		$ 56,500