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Equity Incentive Plans and Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended
Jan. 01, 2024
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Sep. 30, 2021
Class Of Stock [Line Items]          
Total common stock reserved for future issuance   21,620,354   13,083,154 380,000
Increase in common stock   1.00%      
Unrecognized compensation cost related to options   $ 39,100      
Term of recognized expense   2 years 3 months 18 days      
Fair market value of the common stock, percentage   85.00%      
Purchase of common stock through payroll deduction   15.00%      
Common stock, shares issued   52,521,050   43,099,055  
Liability of early exercise options, shares   46,517   74,421  
Liability of early exercise options   $ 29   $ 46  
Stock based compensation expense   $ 100 $ 100    
Employee Stock Purchase Plan [Member]          
Class Of Stock [Line Items]          
Total common stock reserved for future issuance   1,516,697      
Term of recognized expense   1 year      
Employee Stock Purchase Plan Description   the outstanding shares of the Company’s common stock on the last day of the immediately preceding fiscal year, or (2) such smaller amount as determined by the Company’s Board of Directors.      
Common stock, shares issued   43,692 32,442    
Increased decrease in stock reserve for future issuance 430,990        
Unrecognized compensation expense   $ 200      
Employee Stock Purchase Plan [Member] | Common Stock [Member]          
Class Of Stock [Line Items]          
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.      
Employee Stock Option          
Class Of Stock [Line Items]          
Weighted average grant fair value   $ 15.1 $ 6.51    
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      
Shares reserved for future issuance 2,154,952 5,668,928