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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