Stock-Based Compensation Plan - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions		12 Months Ended
	Jul. 31, 2021	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares issued in connection with employee stock plans (in shares)		296,236
Weighted-average grant date fair value of options granted (in dollars per share)		$ 6.64	$ 8.21	$ 10.42
Share-based Payment Arrangement, Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation expense related to unvested stock options		$ 20.6
Unrecognized stock-based compensation expense estimated, recognition period		1 year 11 months 4 days
Restricted Stock Units (RSUs)
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation expense related to unvested stock options		$ 26.2
Unrecognized stock-based compensation expense estimated, recognition period		2 years 11 months 26 days
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)	18,000,000	21,353,903
Annual increase to common stock reserved for issuance	4.00%
Employee Stock Purchase Plan 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)	2,000,000	5,509,370
Annual increase to common stock reserved for issuance	1.00%
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares outstanding (in shares)	5,000,000