Stock Incentive Plan - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Aug. 31, 2022	May 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	20,180,834
Liability for cash received from early exercise of stock	$ 100	$ 500
Number of early exercise stock option remain subject to repurchase	34,384	526,660
Common stock, shares issued	73,823,161	71,854,688
Unrecognized stock-based compensation expense	$ 19,500
Cost not yet recognized, period for recognition	2 years 3 months 18 days
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	15,829,198
Common stock, shares issued	34,384
Exercise Price	$ 0.46		$ 3.6
Cost not yet recognized, period for recognition	10 months 24 days
Share Based Compensation exercised	$ 31	$ 1,300
Employee Stock Option | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price	$ 0.46
Unrecognized stock-based compensation expense	$ 200	$ 400
Employee Stock Option | Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation expense	$ 1,200
Non Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, shares issued			984,291
Non Employee Stock Option | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price			$ 10.99
Non Employee Stock Option | Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price			$ 26.23
2021 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	7,500,000
Stock incentive plan description	The number of shares of common stock reserved for issuance under the 2021 Plan are increased automatically on the first business day of each fiscal year, commencing in 2022 and ending in 2031, by a number equal to the lesser of: (i) 5% of the shares of common stock outstanding on the last business day of the prior fiscal year; or (ii) the number of shares determined by the Company’s Board of Directors.
2021 Plan | Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Purchase Price of Common Stock Expressed As A Percentage	100.00%
2016 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance	585,720
2021 ESPP Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for future issuance				730,000
Share-based payment award, number of shares available for grant	3,810,957
Common stock, shares issued	1,058,431
Purchase Price of Common Stock Expressed As A Percentage	85.00%