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Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
 3 Months Ended 9 Months Ended
Jan. 01, 2023
Jan. 01, 2022
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Class Of Stock [Line Items]              
Total common stock reserved for future issuance     13,126,816   13,126,816   10,989,684
Performance-based stock options, outstanding     8,110,570   8,110,570   5,890,869
Unrecognized compensation cost related to options     $ 42.3   $ 42.3    
Term of recognized expense         2 years 7 months 6 days    
Common stock, shares issued     43,055,393   43,055,393   42,634,459
Liability of early exercise options, shares     124,644   124,644   277,081
Liability of early exercise options     $ 0.1   $ 0.1   $ 0.2
Stock based compensation expense     $ 0.1 $ 0.1 0.4 $ 0.4  
Forfeitures         $ 0.1 $ 1.1  
Employee Stock Purchase Plan [Member]              
Class Of Stock [Line Items]              
Total common stock reserved for future issuance     380,000   380,000    
Increase in common stock         1.00%    
Term of recognized expense         1 year 2 months 12 days    
Common stock, shares issued     56,387 45,919 56,387 45,919  
Increased decrease in stock reserve for future issuance 1,231,705 805,361          
Unrecognized compensation expense     $ 0.3   $ 0.3    
Stock Options [Member]              
Class Of Stock [Line Items]              
Weighted average grant fair value         $ 10.01 $ 5.59  
Performance Shares [Member]              
Class Of Stock [Line Items]              
Performance-based stock options, unvested     67,074   67,074    
Performance-based stock options, outstanding     67,074   67,074    
Performance-based stock options, Expense recognized     $ 0.7   $ 0.8    
Unrecognized compensation cost related to options     $ 0.5   $ 0.5    
Forfeitures           $ 1.0  
2021 Plan              
Class Of Stock [Line Items]              
Total common stock reserved for future issuance     5,570,000   5,570,000    
Increase in common stock         5.00%    
Total common stock available for future issuance     1,032,150   1,032,150    
Common stock reserve for future issuance     4,537,850   4,537,850    
Shares reserved for future issuance         3,886,847    
Common Stock [Member] | Employee Stock Purchase Plan [Member]              
Class Of Stock [Line Items]              
Total common stock reserved for future issuance     1,129,399   1,129,399    
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.    
Fair market value of the common stock, percentage         85.00%    
Purchase of common stock through payroll deduction         15.00%