Stock-Based Compensation - Stock Option Activity (Details) - Stock options - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Shares
Options outstanding at beginning of the period (in shares)	4,077,667
Granted (in shares)	1,620,000
Exercised (in shares)	(458,254)
Canceled (in shares)	(153,751)
Options outstanding at the end of the period (in shares)	5,085,662	4,077,667
Options vested and expected to vest at the end of the period (in shares)	4,970,769
Options exercisable at the end of the period (in shares)	2,100,491
Shares available for grant under the 2021 Plan	1,837,968
Weighted Average Exercise Price Per Share
Options outstanding at beginning of the period (in dollars per share)	$ 30.02
Granted (in dollars per share)	23.19
Exercised (in dollars per share)	8.22
Canceled (in dollars per share)	48.36
Options outstanding at the end of the period (in dollars per share)	29.26	$ 30.02
Options vested and expected to Vest at the end of the period (in dollars per share)	29.40
Options exercisable at the end of the period (in dollars per share)	$ 40.05
Weighted Average Remaining Contractual Term (In Years)
Options outstanding at the end of the period	7 years 10 months 24 days	8 years
Options vested and expected to vest at the end of the period	7 years 9 months 18 days
Options exercisable at the end of the period	6 years 7 months 6 days