Stockholders' Equity (Tables)

12 Months Ended

Dec. 31, 2023

Convertible Redeemable Preferred Stock And Stockholders' Deficit [Abstract]

Summary of Company's Common Stock Reserved for Future Issuance

The Company’s common stock reserved for future issuances are as follows:

	As of December 31,
	2023		2022
Stock options outstanding		21,664,377		24,716,270
Warrants to acquire common stock		8,301,202		8,301,202
Public warrants outstanding		5,228,253		5,231,486
Restricted stock units outstanding		15,107,535		9,320,045
Performance-based restricted stock units grants		12,923,499		—
Shares available for grant under the 2021 Equity Incentive Plan		14,075,832		23,415,625
Shares available for issuance under the Employee Stock Purchase Plan		5,354,000		5,354,000
Total common stock reserved		82,654,698		76,338,628