Redeemable Convertible Preferred Stock and Stockholders’ Equity - Common Stock Reserved for Future Issuance (Details) - shares	Dec. 31, 2022	Mar. 15, 2021	Jul. 31, 2020	Dec. 31, 2019
2021 Plan
Class of Stock [Line Items]
Shares of common stock authorized for issuance	13,503,001	13,503,001
Total authorized shares of common stock reserved for future issuance (in shares)	8,737,226
2021 Plan | Options outstanding
Class of Stock [Line Items]
Total authorized shares of common stock reserved for future issuance (in shares)	2,041,634
2021 Plan | Restricted stock units issued and outstanding
Class of Stock [Line Items]
Total authorized shares of common stock reserved for future issuance (in shares)	1,346,925
2021 Plan | Performance stock units issued and outstanding
Class of Stock [Line Items]
Total authorized shares of common stock reserved for future issuance (in shares)	1,377,216
2019 Plan
Class of Stock [Line Items]
Shares of common stock authorized for issuance			10,163,772	8,682,600
2019 Plan | Options outstanding
Class of Stock [Line Items]
Total authorized shares of common stock reserved for future issuance (in shares)	4,823,631
2019 Plan | Restricted stock
Class of Stock [Line Items]
Total authorized shares of common stock reserved for future issuance (in shares)	53,331