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Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares | Mar. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 19,268,153 | 18,914,040
2011 Equity Incentive Plan |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 0 | 0
2011 Equity Incentive Plan | Options outstanding |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 10,299,897 | 10,862,094
2021 Equity Incentive Plan |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 1,859,223 | 1,836,566
2021 Equity Incentive Plan | Options outstanding |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 1,464,030 | 1,509,187
2021 Equity Incentive Plan | Restricted stock units outstanding |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 3,986,997 | 3,716,061
2021 Employee Stock Purchase Plan |  |
Class of Stock [Line Items] |  |
Common stock reserved for future issuance (in shares) | 1,658,006 | 990,132

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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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