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Stock-Based Compensation - Additional Information (Details) - USD ($) $ in Millions	1 Months Ended	3 Months Ended	12 Months Ended
	Apr. 30, 2021	Dec. 31, 2020	Dec. 31, 2024	Dec. 31, 2023	Dec. 31, 2022	Jan. 01, 2025	Nov. 17, 2023	Dec. 18, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock to grant stock-based compensation awards			12,432,942	8,720,898
Total unrecognized compensation cost related to stock options, restricted stock awards, and ESPP under the plans			$ 30.4
Unrecognized stock-based compensation cost, weighted-average period			2 years
2020 Equity Incentive Plan \| Employees and Non-Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock to grant stock-based compensation awards								4,327,799
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock to grant stock-based compensation awards	3,370,000		843,684
Options granted expiration period	10 years
Ownership (percent)	10.00%
Option price as percentage of fair market value of common stock on the date of grant	110.00%
Vesting description	Employee stock options generally vest 1/16th quarterly over four years subject to continued service to the Company.
Vesting period	4 years
Share-based compensation arrangement by share-based payment award, percentage of increment based on prior year			5.00%
2021 Equity Incentive Plan \| Subsequent Event
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increase in number of shares of common stock available under evergreen provision						1,815,535
2021 Equity Incentive Plan \| Grantee Owning More Than 10% of Voting Power
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options granted expiration period	5 years
2023 Inducement Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock to grant stock-based compensation awards			1,837,250	2,000,000			2,000,000
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Reserved shares of common stock to grant stock-based compensation awards	306,000		583,263
Share-based compensation arrangement by share-based payment award, percentage of increment based on prior year			1.00%
Discounted percentage for employees and designated affiliates to purchase common stock	15.00%
2021 Employee Stock Purchase Plan \| Subsequent Event
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increase in number of shares of common stock available under evergreen provision						363,107
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Aggregate intrinsic value of options exercised			$ 0.8	$ 1.7	$ 0.4
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unvested restricted awards				111,920
Restricted Stock \| Employees and Non-Employees
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Vesting period		4 years
Restricted stock awards granted		824,429