Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		12 Months Ended
	Jan. 01, 2022	Dec. 31, 2022	Dec. 31, 2021	Sep. 17, 2021
Class Of Stock [Line Items]
Common stock, par value		$ 0.0001	$ 0.0001
Stock compensation expense related to modification of options		$ 800
General and Administrative Expense		15,919	$ 5,652
Incremental stock based compensation recorded due to terminations		$ 2,000
Common stock, shares issued		42,634,459	42,536,183
Accelerate expense or compensation cost expense recognized due to termination		$ 1,200
Unrecognized compensation cost related to options		23,300
Forfeitures resulted in the reversal of compensation expense		$ 1,200
Term of recognized expense		2 years 6 months
Total common stock reserved for future issuance		10,989,684	8,535,790
Liability of early exercise options, shares		277,081	599,878
Liability of early exercise options		$ 200	$ 400
2020 Plan
Class Of Stock [Line Items]
Total common stock available for future issuance		1,032,150
2021 Plan
Class Of Stock [Line Items]
Common stock reserve for future issuance		4,537,850
Increased decrease in stock reserve for future issuance	7,696,809
Shares reserved for future issuance		4,339,373
Total common stock reserved for future issuance		5,570,000
Increase in common stock		5.00%
Restricted Stock [Member]
Class Of Stock [Line Items]
Common stock, par value		$ 0.0001
Share-Based Payment Arrangement, Expense, Tax Benefit		$ 300	$ 300
Common stock, shares issued		2,820,560
Unvested Founders Stock Outstanding		3,828	495,170
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested, Number of Shares		491,342	496,008
Stock Options [Member]
Class Of Stock [Line Items]
Weighted average grant fair value		$ 5.62	$ 7.74
Performance Shares [Member]
Class Of Stock [Line Items]
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested, Number of Shares		96,431
Forfeitures resulted in the reversal of compensation expense		$ 1,000
Aggregate stock option were forfeited		93,388
Performance-based stock options, Expense recognized		$ 1,200
IPO [Member]
Class Of Stock [Line Items]
Common stock, shares issued				12,420,000
Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Share-Based Payment Arrangement, Expense, Tax Benefit		$ 400	$ 100
Common stock, shares issued		45,919	0
Unrecognized compensation expense		$ 500
Term of recognized expense		1 year 1 month 6 days
Increased decrease in stock reserve for future issuance	805,361
Total common stock reserved for future issuance		380,000
Increase in common stock		1.00%
Employee Stock Purchase Plan Description		the outstanding shares of the Company’s common stock on the last day of the immediately preceding fiscal year, or (2) such smaller amount as determined by the Company’s Board of Directors. On January 1, 2022, the number of shares reserved for issuance under the 2021 Employee Stock Purchase Plan was increased to 805,361 shares.  The ESPP permits eligible employees who elect to participate in an offering under the ESPP to have up to 15% of their eligible earnings withheld, subject to certain limitations, to purchase shares of common stock pursuant to the ESPP. The price of common stock purchased under the ESPP is equal to 85% of the lower of the fair market value of the common stock at the commencement date of each offering period or the relevant date of purchase. Each offering period is twenty-four months, with new offering periods commencing every six months on or about the dates of March 15 and September 15 of each year.
Common Stock | Employee Stock Purchase Plan [Member]
Class Of Stock [Line Items]
Total common stock reserved for future issuance		759,442
Purchase of common stock through payroll deduction		15.00%
Fair market value of the common stock, percentage		85.00%