Stock-Based Compensation - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Jul. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	17,736,945
Intrinsic value of options exercised	$ 36,700	$ 200,000
Weighted-average grant-date fair value of options granted	$ 2.62	$ 9.80
Unrecognized stock-based compensation	$ 25,000,000
Weighted-average period	2 years 6 months
Restricted Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized stock-based compensation cost	$ 3,000,000
Weighted-average period	2 years 3 months 18 days
2021 Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	1,405,394		800,000
Participants to purchase common stock through payroll deduction maximum percentage of eligible compensation	15.00%
Participants to purchase shares through payroll deduction at lower percentage of fair market value	85.00%
Number of shares of common stock that may be issued in accordance with the plan	800,000
Percentage of shares of common stock outstanding on last day of immediately preceding year	1.00%
Participants to purchase common stock through payroll deduction annual limit of eligible compensation	$ 25,000
Weighted-average period	6 months
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock reserved for issuance	4,000,000
Common stock shares available for issuance period	10 years
Number of shares of common stock that may be issued in accordance with the plan	4,000,000
Percentage of shares of common stock outstanding on last day of immediately preceding year	4.00%
Shares reserved and available for grant	965,665