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v3.23.1

Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($) |  |  | 3 Months Ended |
--- | --- | --- | --- | ---
Jan. 01, 2023 | Jan. 01, 2022 | Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022
Class Of Stock [Line Items] |  |  |  |  |
Total common stock reserved for future issuance |  |  | 13,418,081 |  | 10,989,684
Stock-based compensation expense |  |  | $ 2,433,000 | $ 3,972,000 |
Unrecognized compensation cost related to options |  |  |  | 24,500,000 |
Term of recognized expense |  |  | 2 years 3 months 18 days |  |
Common stock, shares issued |  |  | 42,762,501 |  | 42,634,459
Common stock, par value |  |  | $ 0.0001 |  | $ 0.0001
Liability of early exercise options, shares |  |  | 225,581 |  | 277,081
Liability of early exercise options |  |  | $ 100,000 |  | $ 200,000
Common Stock, Capital Shares Reserved for Future Issuance |  |  | 13,418,081 |  | 10,989,684
Stock based compensation expense |  |  | $ 100,000 | 200,000 |
General And Administrative Expense |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Stock-based compensation expense |  |  |  | $ 1,200,000 |
Employee Stock Purchase Plan [Member] |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Total common stock reserved for future issuance |  |  | 380,000 |  |
Increase in common stock |  |  | 1.00% |  |
Term of recognized expense |  |  | 1 year 4 months 24 days |  |
Employee Stock Purchase Plan Description |  |  | 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 24 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, shares issued |  |  | 32,442 | 27,518 |
Increased decrease in stock reserve for future issuance | 1,231,705 | 805,361 |  |  |
Common Stock, Capital Shares Reserved for Future Issuance |  |  | 380,000 |  |
Unrecognized compensation expense |  |  | $ 700,000 |  |
Employee Stock Purchase Plan [Member] | Common Stock [Member] |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Total common stock reserved for future issuance |  |  | 1,153,344 |  |
Fair market value of the common stock, percentage |  |  | 85.00% |  |
Purchase of common stock through payroll deduction |  |  | 15.00% |  |
Common Stock, Capital Shares Reserved for Future Issuance |  |  | 1,153,344 |  |
Stock Options [Member] |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Weighted average grant fair value |  |  | $ 6.51 | $ 8.52 |
Restricted Stock [Member] |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Performance-based stock options, vested |  |  | 654 | 122,470 |
Common stock, shares issued |  |  | 2,820,560 |  |
Common stock, par value |  |  | $ 0.0001 |  |
Unvested founders stock outstanding |  |  | 3,175 |  | 3,828
Stock based compensation expense |  |  | $ 5,000 | $ 73,000 |
2021 Plan |  |  |  |  |
Class Of Stock [Line Items] |  |  |  |  |
Total common stock reserved for future issuance |  |  | 5,570,000 |  |
Increase in common stock |  |  | 5.00% |  |
Total common stock available for future issuance |  |  | 1,032,150 |  |
Common stock reserve for future issuance |  |  | 4,537,850 |  |
Increased decrease in stock reserve for future issuance |  | 7,696,809 | 9,828,531 |  |
Shares reserved for future issuance |  |  | 6,138,644 |  |
Common Stock, Capital Shares Reserved for Future Issuance |  |  | 5,570,000 |  |

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