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Stock Plans - Additional Information (Details) - USD ($) $ / shares in Units, $ in Millions | 1 Months Ended | 12 Months Ended | 18 Months Ended
--- | --- | --- | ---
Jan. 31, 2024 | Jul. 31, 2023 | Apr. 30, 2021 | Apr. 20, 2021 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Jun. 06, 2024
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock reserved for future issuance (in shares) |  |  |  |  | 6,733,868 | 7,076,678 |  |
Options granted (in shares) |  |  |  |  | 695,225 | 690,218 |  |
Stock options exercised intrinsic value |  |  |  |  | $ 5.3 | $ 0.9 |  |
Options, subject to repurchase (in shares) |  |  |  |  | 30,211 | 78,389 |  |
ESPP discount percent |  |  | 85.00% |  |  |  |  |
ESPP, length of offering period |  |  | 6 months |  |  |  |  |
Unrecognized stock-based compensation expense |  |  |  |  | $ 16.0 |  |  |
Period for recognition |  |  |  |  | 2 years 2 months 12 days |  |  |
Minimum |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting period (in years) |  |  | 3 years |  |  |  |  |
Maximum |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Vesting period (in years) |  |  | 4 years |  |  |  |  |
Stock option | Share-based Payment Arrangement, Employee |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Options granted, weighted average grant date fair value (in dollars per share) |  |  |  |  | $ 3.85 | $ 7.83 |  |
Options vested fair value |  |  |  |  | $ 7.8 | $ 1.8 |  |
2020 Stock Plan | Stock option |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Maximum term (in years) |  |  |  |  | 10 years |  |  |
Minimum exercise price per share, percentage |  |  |  |  | 110.00% |  |  |
Inducement Plan | Stock option |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Common stock reserved for future issuance (in shares) |  | 380,424 |  |  |  |  |  |
Inducement Plan | Stock option | Chief Executive Officer |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Options granted (in shares) |  | 380,424 |  |  |  |  |  |
2021 Equity Incentive Plan | Subsequent Event |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Shares authorized (in shares) | 1,391,173 |  |  |  |  |  |  |
2021 Equity Incentive Plan | Stock option |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Maximum term (in years) |  |  | 5 years |  |  |  | 10 years |
Minimum exercise price per share, percentage |  |  |  | 110.00% |  |  |  |
Common stock reserved for future issuance (in shares) |  |  |  | 2,900,000 |  |  |  |
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) |  |  | 278,234 |  |  |  |  |
Issuance of shares pursuant to Employee Stock Purchase Plan (in shares) |  |  |  |  | 280,599 | 284,758 |  |
Number of shares available for grant (in shares) |  |  |  |  | 399,798 |  |  |
Period for recognition |  |  |  |  | 4 months 24 days |  |  |
Cost not yet recognized, amount |  |  |  |  | $ 0.2 |  |  |
2021 Employee Stock Purchase Plan | Forecast |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |
Offering period |  |  |  |  |  |  |  | 6 months

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