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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
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