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Stockholders' Equity - Summary of Reserved Shares of Common Stock (Details) - shares (Details) - shares
Sep. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common Stock Options Granted And Outstanding 8,110,570 5,890,869
Total common stock reserved for future issuance 13,126,816 10,989,684
2021 Equity Incentive Plan [Member]    
Class of Stock [Line Items]    
Total common stock reserved for future issuance 3,886,847 4,339,373
2021 Employee Stock Purchase Plan [Member]    
Class of Stock [Line Items]    
Shares Available For Future Issuance 1,129,399 759,442