Stock-Based Compensation - Stock Option Activity (Details) - Employee Stock Option - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Shares
Options outstanding at beginning of the period	5,085,662
Granted	1,612,175
Exercised	(131,203)
Canceled	(187,710)
Options outstanding at the end of the period	6,378,924	5,085,662
Options vested and expected to vest at the end of the period	6,264,180
Options exercisable at the end of the period	3,261,890
Shares available for grant under the 2021 Plan	1,013,503
Weighted Average Exercise Price Per Share
Options outstanding at beginning of the period	$ 29.26
Granted	36.58
Exercised	14.92
Canceled	87.30
Options outstanding at the end of the period	29.69	$ 29.26
Options vested and expected to Vest at the end of the period	29.67
Options exercisable at the end of the period	$ 29.21
Weighted Average Remaining Contractual Term (In Years)
Options outstanding at the end of the period	7 years 6 months	7 years 10 months 24 days
Options vested and expected to vest at the end of the period	7 years 6 months
Options exercisable at the end of the period	6 years 4 months 24 days