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Stockholders' Equity - Narrative (Details) - USD ($)
$ in Thousands
1 Months Ended 9 Months Ended 12 Months Ended
May 31, 2015
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2022
Dec. 31, 2020
Share-based Compensation Arrangements          
Options outstanding and exercisable, aggregate intrinsic value   $ 98,700     $ 6,900
Options outstanding, aggregate intrinsic value   218,500     9,900
Options exercised in the period, intrinsic value   5,100 $ 1,800    
Options vested in the period, fair value   2,400 $ 1,200    
Unrecognized compensation cost   $ 9,700     $ 6,500
Average vesting period for unrecognized compensation cost   2 years 10 months 24 days     2 years 10 months 24 days
Common stock options          
Share-based Compensation Arrangements          
Options outstanding (in shares)   6,607,000     6,507,000
Common Stock Warrants          
Share-based Compensation Arrangements          
Warrants issued (in shares) 12,308        
Common Stock Warrants | Additional Paid-in Capital          
Share-based Compensation Arrangements          
Warrants issued, value $ 15        
2021 Equity Incentive Award Plan          
Share-based Compensation Arrangements          
Common stock reserved for future issuance (in shares)   3,303,910      
2021 Equity Incentive Award Plan | Employee stock options          
Share-based Compensation Arrangements          
Award vesting period (in years)   4 years      
Award cliff vesting period (in years)   1 year      
Shares available for grant (in shares)   3,200,000      
2021 Equity Incentive Award Plan | Incentive Stock Options and Nonqualified Stock Options | Minimum          
Share-based Compensation Arrangements          
Purchase price of common stock, percent   110.00%      
2021 Equity Incentive Award Plan | Incentive Stock Options and Nonqualified Stock Options | Minimum | Shareholder of Ten Percent Ownership or Greater          
Share-based Compensation Arrangements          
Ownership interest, percent   10.00%      
2021 Equity Incentive Award Plan | Common stock options          
Share-based Compensation Arrangements          
Award contractual life (in years)   10 years      
Purchase price of common stock, percent   100.00%      
2008 Stock Plan | Common stock options          
Share-based Compensation Arrangements          
Options outstanding (in shares)   6,500,000      
2021 Employee Stock Purchase Plan          
Share-based Compensation Arrangements          
Common stock reserved for future issuance (in shares)   412,988      
2021 Employee Stock Purchase Plan | Forecast          
Share-based Compensation Arrangements          
Percentage of outstanding stock maximum       1.00%  
2021 Employee Stock Purchase Plan | Maximum          
Share-based Compensation Arrangements          
Common stock reserved for future issuance (in shares)   10,526,315