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Stockholders' Equity - Schedule of Common Stock Reserved for Future Issuance (Details) - shares	Sep. 30, 2025	Dec. 31, 2024	Aug. 02, 2024
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	18,336,172	19,044,737
2011 Equity Incentive Plan | Options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	3,763,607	5,264,351
2021 Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	6,668,838	6,933,867
2021 Plan | Options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	1,020,232	1,114,620
2021 Plan | Restricted stock units outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	4,813,242	4,351,393
2021 Employee Stock Purchase Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	1,721,779	965,766
2024 Inducement Plan
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	38,919	2,000	414,740
2024 Inducement Plan | Restricted stock units outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	309,555	412,740

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