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Stock-Based Compensation - Shares Reserved for Future Issuance (Details)
Sep. 30, 2023
shares
Class of Stock [Line Items]  
Total shares of common stock reserved 8,384,517
Common Stock Options Outstanding  
Class of Stock [Line Items]  
Total shares of common stock reserved 6,095,807
Unvested Restricted Stock Units  
Class of Stock [Line Items]  
Total shares of common stock reserved 441,500
Equity Incentive Plan 2021  
Class of Stock [Line Items]  
Total shares of common stock reserved 1,300,869
Employee Stock Purchase Plan (ESPP) 2021  
Class of Stock [Line Items]  
Total shares of common stock reserved 546,341