Preferred Stock and Common Stock - Shares Reserved for Future Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022	Oct. 31, 2021
Shares for future issuance
Shares reserved for future issuance (in shares)	10,160,112	8,653,472
2020 Plan, 2021 Plan and 2022 Inducement Plan | Employee Stock Option
Shares for future issuance
Shares reserved for future issuance (in shares)	9,456,237	8,084,121
2021 ESPP
Shares for future issuance
Shares reserved for future issuance (in shares)	701,244	566,720	292,031
Warrants
Shares for future issuance
Shares reserved for future issuance (in shares)	2,631	2,631