Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares	Jun. 30, 2024	Dec. 31, 2023
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	21,931,986	22,927,115
2011 Equity Incentive Plan (“2011 Plan”) | Options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	6,215,824	7,988,657
2021 Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	8,915,423	7,400,180
2021 Plan | Options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	1,230,360	1,318,485
2021 Plan | Restricted stock units outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	4,210,924	5,256,833
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	1,359,455	962,960