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Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 26,093,224 18,914,040
2011 Equity Incentive Plan (“2011 Plan”)    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 0 0
2011 Equity Incentive Plan (“2011 Plan”) | Options outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 9,569,367 10,862,094
2021 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 10,071,114 1,836,566
2021 Plan | Options outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 1,400,955 1,509,187
2021 Plan | Restricted stock units outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 3,742,337 3,716,061
2021 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 1,309,451 990,132