Stock-Based Compensation - Restricted Stock Units Activity Under Company's Stock Plans (Details) - Restricted stock units - 2021 Equity Incentive Plan	3 Months Ended
	Mar. 31, 2024 $ / shares shares
Number of Unvested Shares
Beginning balance (in shares) | shares	8,893,831
Granted (in shares) | shares	247,500
Vested (in shares) | shares	(991,402)
Forfeited / cancelled (in shares) | shares	(406,288)
Ending balance (in shares) | shares	7,743,641
Weighted- Average Grant Date Fair Value (per share)
Beginning balance (in dollars per share) | $ / shares	$ 14.38
Granted (in dollars per share) | $ / shares	4.91
Vested (in dollars per share) | $ / shares	11.33
Forfeited / cancelled (in dollars per share) | $ / shares	12.93
Ending balance (in dollars per share) | $ / shares	$ 14.54