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Common and Preferred Stock - Schedule of Common Stock Reserved for Issuance (Details) - shares
Sep. 30, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 11,022,059 8,539,247
Shares reserved for exercises of outstanding stock options    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 7,497,671 5,700,070
Shares reserved for vesting of restricted stock units    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 145,000 361,500
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 future issuance under the 2021 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 471,933 507,113
Shares reserved for future issuance under the 2021 Stock Incentive Plan    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 2,057,187 1,911,660
Shares reserved for future issuance as part of the K2HV Loan Agreement conversion feature    
Class of Stock [Line Items]    
Common stock available for issuance (in shares)   0