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Stockholders’ Equity and Equity Incentive Plan - Common Stock Reserved for Future Issuance (Details) - shares | Sep. 30, 2023 | Jan. 01, 2023 | Dec. 31, 2022
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Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Stock options outstanding (in shares) | 7,157,218 |  | 7,756,680
Number of shares available for future issuance (in shares) | 19,922,917 |  |
2021 Equity Incentive Plan |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Common stock, shares available for grant (in shares) | 4,107,198 |  |
Number of additional shares authorized (in shares) |  | 2,377,740 |
2021 Employee Stock Purchase Plan | Employee Stock |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Common stock, shares available for grant (in shares) | 1,895,121 |  |
Number of additional shares authorized (in shares) |  | 475,548 |
Restricted Stock |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Restricted stock outstanding (in shares) | 6,763,380 |  |

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- Definition The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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