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Stock-Based Compensation - Narrative (Details)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 12 Months Ended
May 31, 2018
Mar. 31, 2023
USD ($)
$ / shares
shares
Mar. 31, 2022
$ / shares
Dec. 31, 2021
shares
Dec. 31, 2022
USD ($)
shares
Sep. 30, 2021
shares
Mar. 31, 2021
Stock-Based Compensation              
Options to purchase common stock, exercised (in shares)   17,880          
Weighted-average per share grant date fair value of options granted (in usd per share) | $ / shares   $ 8.63 $ 7.68        
Unrecognized stock-based compensation expense related to unvested stock options | $   $ 33.5          
Recognition period   1 year 8 months 12 days          
Employee Stock              
Stock-Based Compensation              
Annual percentage increase in aggregate number of common stock reserved for issuance             0.01
Shares available for future grant under the Plan (in shares)   755,548          
Share-based compensation arrangement by share-based payment award, number of shares authorized           400,000  
ESPP, discount from market price, percentage   85.00%          
Share-Based Payment Arrangement, Option              
Stock-Based Compensation              
Recognition period   2 years 7 months 6 days          
Restricted Stock Units (RSUs)              
Stock-Based Compensation              
Vesting period   4 years          
Unrecognized stock-based compensation expense related to unvested stock options | $   $ 3.0          
Recognition period   3 years 10 months 24 days          
Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche One              
Stock-Based Compensation              
Award vesting rights, percentage   25.00%          
Restricted Stock Units (RSUs) | Share-Based Payment Arrangement, Tranche Two              
Stock-Based Compensation              
Vesting period   36 months          
Restricted Stock              
Stock-Based Compensation              
Vesting period 5 years            
Unrecognized stock-based compensation expense | $   $ 1.1          
2021 Plan              
Stock-Based Compensation              
Annual percentage increase in aggregate number of common stock reserved for issuance             0.05
Shares reserved under the Plan (in shares)   11,043,865     9,132,930    
Shares available for future grant under the Plan (in shares)   2,038,026     1,843,494    
Expiration period   10 years          
Share-based compensation arrangement by share-based payment award, options, liability for early exercise | $   $ 0.7     $ 0.8    
2021 Plan | Early Exercised Stock Options              
Stock-Based Compensation              
Options to purchase common stock, exercised (in shares)   0   345,930      
Share-based compensation arrangement by share-based payment award, options, nonvested, number of shares   180,173     201,793    
2021 Plan | Share-Based Payment Arrangement, Option              
Stock-Based Compensation              
Vesting period   4 years          
2021 Plan | Restricted Stock Units (RSUs)              
Stock-Based Compensation              
Vesting period   4 years          
2021 Plan | Restricted Stock              
Stock-Based Compensation              
Vesting period   5 years