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Stockholders’ Equity - Common Stock Reserved for Future Issuance (Details)
Dec. 31, 2023
shares
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 22,927,115
2011 Equity Incentive Plan  
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 0
2011 Equity Incentive Plan | Options outstanding  
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 7,988,657
2021 Equity Incentive Plan  
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 7,400,180
2021 Equity Incentive Plan | Options outstanding  
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 1,318,485
2021 Equity Incentive Plan | RSUs  
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 5,256,833
2021 Employee Stock Purchase Plan  
Class of Stock [Line Items]  
Common stock reserved for future issuance (in shares) 962,960