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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 20,967,834 22,927,115
2011 Equity Incentive Plan (“2011 Plan”) | Options outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 5,712,735 7,988,657
2021 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 6,871,300 7,400,180
2021 Plan | Options outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 1,171,252 1,318,485
2021 Plan | Restricted stock units outstanding    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 5,438,352 5,256,833
2021 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 1,359,455 962,960
2024 Inducement Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 414,740 0