Stockholders' Equity - Schedule of Common Stock Reserved for Issuance (Details) - shares	Dec. 31, 2023	Jul. 31, 2021
Class Of Stock [Line Items]
Common stock reserved for issuance	17,736,945
2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	1,405,394	800,000
2021 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	4,000,000
Outstanding Pre-Funded Warrants
Class Of Stock [Line Items]
Common stock reserved for issuance	5,934,176
Outstanding Stock Options and Awards
Class Of Stock [Line Items]
Common stock reserved for issuance	9,431,710
Shares Available for Further Issuance Under the Employee Stock Purchase Plan | 2021 Employee Stock Purchase Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	1,405,394
Shares Available For Further Issuance Under The Equity Incentive Plan | 2021 Equity Incentive Plan
Class Of Stock [Line Items]
Common stock reserved for issuance	965,665