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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