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Common Stock (Details) - USD ($)
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common stock authorized (in shares) 200,000,000 200,000,000
Common stock par value (in dollars per share) $ 0.001 $ 0.001
Dividends declared cash $ 0 $ 0
Common stock reserved for future issuance (in shares) 7,806,904 7,076,678
Shares available for future grant under the 2021 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 841,592 1,443,946
Outstanding options under the 2021 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 3,457,501 3,446,583
Outstanding restricted stock units under the 2021 Plan    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 2,992,124 1,756,209
Common stock available for ESPP    
Class of Stock [Line Items]    
Common stock reserved for future issuance (in shares) 515,687 429,940