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Stockholders' Equity - Additional Information (Details) - USD ($)
 3 Months Ended
Oct. 03, 2022
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Class Of Stock [Line Items]        
Common stock, par value   $ 0.0001   $ 0.0001
Common stock, shares issued   42,762,501   42,634,459
Stock based compensation expense   $ 100,000 $ 200,000  
Total common stock reserved for future issuance   13,418,081   10,989,684
Term of recognized expense   2 years 3 months 18 days    
ATM Sales Agreement [Member]        
Class Of Stock [Line Items]        
Aggregate Common Stock Offering Price $ 150,000,000.0      
Commission For Agent on Sales 3.00%      
Common stock, shares issued   0    
2021 Plan        
Class Of Stock [Line Items]        
Total common stock reserved for future issuance   5,570,000    
Restricted Stock [Member]        
Class Of Stock [Line Items]        
Common stock, par value   $ 0.0001    
Common stock, shares issued   2,820,560    
Unvested founders stock outstanding   3,175   3,828
Shares vested   654 122,470  
Stock based compensation expense   $ 5,000 $ 73,000