Stock Plans - Schedule of Employee Stock Options (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Stock option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected volatility, minimum	60.00%	50.00%
Expected volatility, maximum	63.00%	52.00%
Weighted average risk-free interest rate, minimum	3.74%	1.79%
Weighted average risk-free interest rate, maximum	3.94%	3.56%
Dividend yield	0.00%	0.00%
Minimum \| Stock option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	5 years 3 months 7 days	5 years 3 months 7 days
Fair value of common stock (in dollars per share)	$ 1.54	$ 6.30
Maximum \| Stock option
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 years 3 months	6 years 3 months
Fair value of common stock (in dollars per share)	$ 4.50	$ 8.15
2021 Employee Stock Purchase Plan
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Expected term (in years)	6 months	6 months
Expected volatility, minimum	63.00%	65.00%
Expected volatility, maximum	90.00%	67.00%
Weighted average risk-free interest rate, minimum	5.36%	1.75%
Weighted average risk-free interest rate, maximum	5.43%	4.72%
Dividend yield	0.00%	0.00%
2021 Employee Stock Purchase Plan \| Minimum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value of common stock (in dollars per share)	$ 4.20	$ 1.72
2021 Employee Stock Purchase Plan \| Maximum
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair value of common stock (in dollars per share)	$ 8.49	$ 6.14

Agreed-upon price for the exchange of the underlying asset relating to the share-based payment award.

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- Definition

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

+ References

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- Definition

The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

+ References

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- Definition

The estimated measure of the minimum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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- Definition

The maximum risk-free interest rate assumption that is used in valuing an option on its own shares.

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The minimum risk-free interest rate assumption that is used in valuing an option on its own shares.

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- Definition

Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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