Stock-Based Compensation - Additional Information (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Jul. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for issuance	21,727,527		21,727,527
Contractual term of stock option awards			10 years
Vesting period			4 years
Stock-based compensation	$ 4,611,000	$ 3,831,000	$ 8,835,000	$ 7,345,000
Restricted Stock | Minimum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period			2 years
Restricted Stock | Maximum
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Vesting period			4 years
2021 Employee Stock Purchase Plan
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock reserved for issuance	1,767,746		1,767,746		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%
Common stock shares available for issuance period			10 years
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
Offering 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		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	781,439		781,439