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Stockholder's Equity - Summary of Reserved Shares of Common Stock (Details)
Jun. 30, 2024
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 37,481,075
Issued and outstanding stock options  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 6,750,469
Issued and outstanding restricted stock units  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 6,327,473
Available for issuance under the 2021 Equity Incentive Plan  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 17,725,359
Available for issuance under Employee Stock Purchase Plan  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 4,720,458
Committed to settling employee retention [Member]  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 83,996
Available for conversion of non-voting common stock  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 1,873,320