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Stock-Based Compensation - Additional Information (Details) - shares
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
Apr. 30, 2021
Dec. 31, 2020
Sep. 30, 2021
Dec. 31, 2022
Dec. 18, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Stock options outstanding   0 2,966,518    
Expected dividend yield     0.00%    
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   2,427,743    
Options granted expiration period 10 years        
2021 Equity Incentive Plan | Forecast          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, percentage of increment based on prior year       5.00%  
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    
Discounted percentage for employees and designated affiliates to purchase common stock 15.00%        
Common shares available for purchase 306,000        
2021 Employee Stock Purchase Plan | Forecast          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, percentage of increment based on prior year       1.00%  
Restricted Stock          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Restricted stock awards granted     0    
Unvested restricted awards   749,835 593,542    
Restricted Stock | Employees and Non-Employees          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Restricted stock awards granted   824,429      
Vesting period   4 years