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Stock-based Compensation - Additional Information (Details) - USD ($) | 1 Months Ended | 2 Months Ended | 3 Months Ended |
--- | --- | --- | --- | ---
Jul. 31, 2021 | Sep. 30, 2021 | Mar. 31, 2023 | Mar. 31, 2022 | Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance |  |  | 43,208,831 |  | 34,381,274
Share-based compensation, shares subject to repurchase |  |  | 948,179 |  | 1,115,105
Stock-based compensation |  |  | $ 6,845,000 | $ 4,442,000 |
Accrued Expenses and Other Current Liabilities |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Share-based compensation, liabilities associated with shares issued with repurchase rights |  |  | $ 1,500,000 |  | $ 1,700,000
Minimum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Share-based compensation, common stock grant in period, term |  |  | 5 years |  |
Stock Options |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance |  |  | 25,892,271 |  | 17,393,396
Stock vesting period |  |  | 4 years |  |
Weighted-average grant date fair value of options granted |  |  | $ 2.94 | $ 8.36 |
Unrecognized compensation cost related to unvested stock option grants |  |  | $ 72,000,000.0 |  |
Unrecognized compensation cost expected to be recognized as expense, period |  |  | 2 years 10 months 13 days |  |
Intrinsic value of options exercised |  |  | $ 517,000 | $ 3,400,000 |
Share-based compensation, options granted that vest based on performance milestone |  |  | 9,025,337 |  |
Stock Options | Minimum | At the Time Option is Granted |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Percentage of fair market value of common stock |  |  | 100.00% |  |
Stock Options | Minimum | For Holders of More Than 10% of Company's Total Combined Voting Power of All Classes of Stock |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Percentage of fair market value of common stock |  |  | 110.00% |  |
Stock Options | Maximum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Share-based compensation, plan expiration period |  |  | 10 years |  |
2018 Equity Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Share-based compensation, options granted that vest based on performance milestone |  | 0 |  |  |
2021 Incentive Award Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance |  |  | 14,846,946 |  |
Shares of common stock, authorized for issuance | 15,150,000 |  |  |  |
Percentage of outstanding common stock maximum | 5.00% |  |  |  |
ESPP |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Common stock reserved for future issuance | 1,260,000 |  |  |  |
Unrecognized compensation cost related to unvested stock option grants |  |  | $ 2,200,000 |  |
Unrecognized compensation cost expected to be recognized as expense, period |  |  | 1 year 2 months 26 days |  |
Stock-based compensation |  |  | $ 707,000 | $ 501,000 |
Share-based payment arrangement, withheld on behalf of employees for future purchase |  |  | $ 418,000 |  | $ 74,000
Offering period | 24 months |  |  |  |
Purchase period | 6 months |  |  |  |
Shares issued under ESPP |  |  | 0 | 0 |
ESPP | Minimum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Percentage of fair market value of common stock | 85.00% |  |  |  |

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