Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2021 Equity Incentive Plan	6 Months Ended
	Jun. 30, 2024 $ / shares shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares, Outstanding Beginning Balance | shares	8,343,434
Granted | shares	2,470,100
Exercised | shares	(14,543)
Cancelled | shares	(346,964)
Shares, Outstanding Ending Balance | shares	10,452,027
Weighted-Average Exercise Price Per Share, Outstanding Beginning Balance | $ / shares	$ 7.47
Granted | $ / shares	5.13
Exercised | $ / shares	2.8
Cancelled | $ / shares	10.68
Weighted-Average Exercise Price Per Share, Outstanding Ending Balance | $ / shares	$ 6.82