Stock-Based Compensation - Additional Information (Details) - USD ($)	6 Months Ended
Jun. 30, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options exercisable, vested stock options	1,239,865
Options exercisable, subject to early exercise provision	232,300
Options outstanding, Intrinsic value	$ 10,531,000	$ 48,000
Options exercisable, Intrinsic value	$ 4,089,000
Number of shares, options outstanding	4,007,386	2,395,748
Number of shares, options granted	1,665,505
Unrecognized stock-based compensation expense	$ 9,400,000
Cost not yet recognized, period for recognition	2 years 9 months 18 days
Percentage of shares of common stock outstanding	1.00%
Employee Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance	697,645
Employee stock purchase plan, eligible earnings contribution, percentage	15.00%
Employee stock purchase plan, shares purchase price as a percentage of market fair value	85.00%
Employee stock purchase plan, maximum shares purchased, value	$ 25,000
Employee stock purchase plan, maximum offering period	27 months
Shares reserved for future issuance	1,060,017
2021 Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares, options outstanding	4,007,386
Number of shares, options granted	538,366
2021 Equity Incentive Plan [Member] \| Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares authorized for issuance	4,545,752
2020 Equity Incentive Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant	0
2020 Equity Incentive Plan [Member] \| Minimum [Member] \| Employee Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	1 year
2020 Equity Incentive Plan [Member] \| Maximum [Member] \| Employee Stock Purchase Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period	4 years
Award expiration term	10 years

Employee stock purchase plan, eligible earnings contribution, percentage.

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Employee stock purchase plan, maximum offering period.

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Employee stock purchase plan, maximum shares purchased, value.

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Employee stock purchase plan, shares purchase price as a percentage of market fair value.

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Percentage of shares of common stock outstanding

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Share-based compensation arrangement by share-based payment award, options subject to early exercise provision, exercisable number

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- Definition

Aggregate number of common shares reserved for future issuance.

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- Definition

Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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- Definition

Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Number of shares authorized for issuance under share-based payment arrangement.

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- Definition

The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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- Definition

Gross number of share options (or share units) granted during the period.

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- Definition

Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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- Definition

Number of options outstanding, including both vested and non-vested options.

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- Definition

Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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- Definition

Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable.

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