Common and Preferred Stock - Schedule of Common Stock Reserved for Issuance (Details) - shares	Dec. 31, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Common stock available for issuance (in shares)	8,539,247	6,808,337
Shares reserved for exercises of outstanding stock options
Class of Stock [Line Items]
Common stock available for issuance (in shares)	5,700,070	5,244,121
Unvested RSUs
Class of Stock [Line Items]
Common stock available for issuance (in shares)	361,500	322,725
Shares reserved for exercises of warrants
Class of Stock [Line Items]
Common stock available for issuance (in shares)	58,904	58,904
Shares reserved for issuance under the 2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock available for issuance (in shares)	507,113	244,000
Shares reserved for future issuance under the 2021 Stock Incentive Plan
Class of Stock [Line Items]
Common stock available for issuance (in shares)	1,911,660	938,587