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Stock-Based Compensation - Summary of Stock Options Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	3 Months Ended		12 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Granted	2,527	3,070
2018 Stock Plan and 2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Beginning Balance	9,158
Number of Options, Granted	2,527
Number of Options, Exercised	(192)
Number of Options, Ending Balance	11,493		9,158
Number of Options, Exercisable options as of March 31, 2024	6,531
Weighted-Average Exercise Price, Beginning Balance	$ 1.21
Weighted-Average Exercise Price, Granted	3.36
Weighted-Average Exercise Price, Exercised	0.47
Weighted-Average Exercise Price, Ending Balance	1.7		$ 1.21
Weighted-Average Exercise Price, Exercisable options as of March 31, 2024	$ 0.75
Weighted Average Remaining Contractual Life (Years), Balance	7 years 3 months 18 days		6 years 9 months 21 days
Weighted Average Remaining Contractual Life (years), Exercisable options as of March 31, 2024	6 years 14 days
Aggregate Intrinsic Value	$ 13,504		$ 18,112
Aggregate Intrinsic Value, Exercisable options as of March 31, 2024	$ 12,706

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