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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Stock-based compensation      
Unvested shares from early exercises (in shares) 67,737   111,756
Unvested early exercises of stock options $ 0.2   $ 0.3
Future awards under the 2021 Employee Stock Purchase Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 591,055   278,762
Stock options to purchase common stock      
Stock-based compensation      
Weighted-average grant-date fair value of stock options granted (in dollars per share) $ 7.26 $ 6.02  
Unrecognized compensation cost $ 26.2    
Unrecognized compensation cost, weighted-average period for recognition 3 years 7 days    
Restricted Stock      
Stock-based compensation      
Unrecognized compensation cost $ 4.7    
Unrecognized compensation cost, weighted-average period for recognition 3 years 5 months 26 days    
2021 Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 5,255,443   3,986,270
2016 Stock Plan      
Stock-based compensation      
Stock authorized for issuance (in shares) 2,241,637   2,318,855