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Stock-Based Incentive Compensation Plans - Narrative (Details) - USD ($) $ in Millions		1 Months Ended	6 Months Ended
	Jun. 07, 2023	Apr. 30, 2021	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options, subject to repurchase (in shares)			53,599		78,389
ESPP discount percent		85.00%
ESPP, length of offering period		6 months
Common stock reserved for future issuance (in shares)			7,806,904		7,076,678
Unrecognized stock-based compensation expense			$ 19.0
Period for recognition			2 years 6 months
2021 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock reserved for future issuance (in shares)		580,000
Shares authorized (in shares)		250,457
Number of shares available for grant (in shares)			515,687
Issuance of shares pursuant to employee stock purchase plan (in shares)			164,710	147,217
Offering period	6 months
Period for recognition			4 months 24 days
Cost not yet recognized, amount			$ 0.1

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