Preferred Stock and Common Stock - Shares Reserved for Future Issuance (Details) - shares	Sep. 30, 2023	Dec. 31, 2022	Oct. 31, 2021
Shares for future issuance
Shares reserved for future issuance (in shares)	10,231,375	8,653,472
2020 Plan, 2021 Plan and 2022 Inducement Plan | Outstanding stock options
Shares for future issuance
Shares reserved for future issuance (in shares)	7,823,478	4,960,553
2021 Plan | Future Awards
Shares for future issuance
Shares reserved for future issuance (in shares)	1,412,759	2,848,568
2022 Inducement Plan | Future Awards
Shares for future issuance
Shares reserved for future issuance (in shares)	220,000	275,000
2021 ESPP
Shares for future issuance
Shares reserved for future issuance (in shares)	772,507	566,720	292,031
Warrants
Shares for future issuance
Shares reserved for future issuance (in shares)	2,631	2,631