Stockholders' Equity - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended				3 Months Ended		6 Months Ended
	Jun. 10, 2021	Mar. 31, 2024	Jul. 31, 2023	Jun. 30, 2021	Aug. 31, 2017	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	May 31, 2024	Dec. 31, 2023	May 31, 2023
Class Of Stock [Line Items]
Common stock, shares issued						52,164,498		52,164,498			46,262,759
Pre funded common stock warrants exercise price								$ 0.001
Weighted average grant date fair value per share of option grants								$ 9.14	$ 10.09
Total Intrinsic value of stock options exercised								$ 15,800	$ 1,500
Unrecognized stock-based compensation cost						$ 42,600		$ 42,600
Unrecognized stock-based compensation cost, weighted-average period of recognition								2 years 4 months 24 days
Percentage of number of common stock shares	1.00%
Aggregate offering price of common stock						52		$ 52			$ 46
BofA Securities, Inc [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock						150,000		150,000
Restricted Stock Unit ("RSU")
Class Of Stock [Line Items]
Unrecognized stock-based compensation cost						$ 700		$ 700
Unrecognized stock-based compensation cost, weighted-average period of recognition								1 year
2017 Equity Incentive Plan | Employee Stock Option
Class Of Stock [Line Items]
Award vesting period					4 years
2021 Equity Incentive Plan
Class Of Stock [Line Items]
Percentage of annual increase in common stock available for issuance				5.00%
Shares authorized for issuance						11,290,779		11,290,779
2021 Equity Incentive Plan | Employee Stock Option
Class Of Stock [Line Items]
Award vesting period				4 years
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
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						$ 300	$ 400	$ 400	$ 600
Maximum | BofA Securities, Inc [Member]
Class Of Stock [Line Items]
Aggregate offering price of common stock										$ 150,000		$ 150,000
Maximum | 2017 Equity Incentive Plan | Employee Stock Option
Class Of Stock [Line Items]
Award term					ten years
Maximum | 2021 Equity Incentive Plan | Employee Stock Option
Class Of Stock [Line Items]
Award term				ten years
Underwritten Offering
Class Of Stock [Line Items]
Common stock, shares issued		5,397,301	4,153,717
Price of common stock sold per share		$ 46.5	$ 12.46
Pre funded common stock warrants exercise price		$ 0.001	$ 0.001
Underwritten Offering | Pre-funded Warrants
Class Of Stock [Line Items]
Warrants to purchase shares of common stock		1,935,483	583,483
Price of warrants sold per share		$ 46.499	$ 12.459
Gross proceeds from issuance of common stock		$ 341,000	$ 59,000
Aggregate fees amount related to offering included in underwriting discounts commissions and offering expenses		20,900	2,500
Net proceeds after deducting underwriting discounts and commissions, and offering expenses		$ 320,100	$ 56,500