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Stockholders' Equity - Summary of Reserved Shares of Common Stock (Details) - shares (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Sep. 30, 2021
Class of Stock [Line Items]      
Common stock options granted and outstanding 8,347,499 8,276,442  
Total common stock reserved for future issuance 21,620,354 13,083,154 380,000
2021 Equity Incentive Plan [Member]      
Class of Stock [Line Items]      
Total common stock reserved for future issuance 5,668,928 3,677,313  
2021 Employee Stock Purchase Plan [Member]      
Class of Stock [Line Items]      
Shares available for future issuance 1,516,697 1,129,399  
2024 Private Placement [Member]      
Class of Stock [Line Items]      
Pre-Funded Warrants issued and outstanding 6,087,230 0