Common Stock - Schedule of Reserved Number of Shares of Common Stock for Exercise of Outstanding Stock Options and Future Issuance of Stock-Based Awards (Details) - shares	Dec. 31, 2023	Dec. 31, 2022	Jan. 05, 2022
Class Of Stock [Line Items]
Total common stock reserved for future issuance	10,922,405	9,390,736
Shares Available for Issuance Under the 2021 Plan
Class Of Stock [Line Items]
Total common stock reserved for future issuance	1,160,388	1,682,909	3,145,281
Shares Available for Issuance Under the 2021 ESPP
Class Of Stock [Line Items]
Total common stock reserved for future issuance	572,254	286,127	286,127
Pre-Funded Warrants
Class Of Stock [Line Items]
Total common stock reserved for future issuance	2,980,889	2,980,889
Common Stock Options
Class Of Stock [Line Items]
Total common stock reserved for future issuance	6,208,874	4,440,811