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Equity Incentive Plans and Stock-based Compensation - Narrative (Details) - USD ($)
$ in Millions
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Jan. 01, 2024
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Unrecognized compensation expense $ 20.0      
Unrecognized compensation expense, period for recognition 2 years 3 months 18 days      
2021 Equity Incentive Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant under equity plan (in shares) 24,707,942     20,279,560
Number of additional shares authorized (in shares) 18,672,200      
Percentage of outstanding stock maximum 5.00%      
Increase in shares available for grant under equity plan (in shares)     6,253,430  
Award expiration period 10 years      
2021 Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Shares available for grant under equity plan (in shares) 4,755,824     3,505,138
Offering purchase period 6 months      
Number of additional shares authorized (in shares) 3,734,500      
Percentage of outstanding stock maximum 1.00%      
Increase in shares available for grant under equity plan (in shares)     1,250,686  
Employee Stock | 2021 Employee Stock Purchase Plan        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Purchase shares of common stock contribution percent 15.00%      
Purchase price of common stock, percent 85.00%      
Options        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Expected dividend rate 0.00% 0.00%