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Stock-Based Incentive Compensation Plans - Narrative (Details) - USD ($)
$ in Millions
1 Months Ended 9 Months Ended
Jun. 07, 2023
Jul. 31, 2023
Jan. 31, 2023
Apr. 30, 2021
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for future issuance (in shares)         7,759,322   7,076,678
Options granted (in shares)         695,225    
Options, subject to repurchase (in shares)         41,907   78,389
ESPP discount percent       85.00%      
ESPP, length of offering period       6 months      
Unrecognized stock-based compensation expense         $ 17.8    
Period for recognition         2 years 4 months 24 days    
Inducement Plan | Options to purchase common stock              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Common stock reserved for future issuance (in shares)   380,424          
Inducement Plan | Options to purchase common stock | Chief Executive Officer              
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]              
Options granted (in shares)   380,424          
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 common stock pursuant to Employee Stock Purchase Plan (in shares)         164,710 147,217  
Offering period 6 months            
Period for recognition         2 months 12 days    
Cost not yet recognized, amount         $ 0.1