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Stock-Based Incentive Compensation Plans - Narrative (Details) - USD ($) $ in Millions | 1 Months Ended | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Jan. 31, 2024 | Apr. 30, 2021 | Jun. 30, 2023 | Dec. 06, 2024 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |
Options, subject to repurchase (in shares) |  |  |  |  | 6,892 |  | 30,211
ESPP discount percent |  | 85.00% |  |  |  |  |
ESPP, length of offering period |  | 6 months |  |  |  |  |
Common stock reserved for future issuance (in shares) |  |  |  |  | 7,086,252 |  | 6,733,868
Issuance of common stock pursuant to Employee Stock Purchase Plan (in shares) |  |  | 240,000 |  |  |  |
Unrecognized stock-based compensation expense |  |  |  |  | $ 19.2 |  |
Period for recognition |  |  |  |  | 2 years 2 months 12 days |  |
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 |  |  |  |  |  |
Number of shares available for grant (in shares) |  |  |  |  | 583,289 |  |
Issuance of common stock pursuant to Employee Stock Purchase Plan (in shares) |  |  |  |  | 94,743 | 164,710 |
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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