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Stock-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Thousands
 1 Months Ended 3 Months Ended
Jan. 01, 2024
shares
Jan. 01, 2022
shares
Nov. 30, 2022
USD ($)
$ / shares
shares
Jul. 31, 2021
shares
Jul. 31, 2020
Mar. 31, 2024
USD ($)
Installment
$ / shares
shares
Mar. 31, 2023
USD ($)
$ / shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock authorized for issuance       2,685,546      
Percentage of number of shares of common stock outstanding         1.00%    
Intrinsic value of stock options exercised | $           $ 0 $ 300
Fair value of common stock Per Share | $ / shares           $ 2.53 $ 1.34
Liability for unvested shares | $           $ 40,200  
Unrecognized stock based compensation expense, Weighted average recognition period           2 years 4 months 24 days  
Stock based compensation expense | $           $ 5,379 $ 5,400
Class of Warrant or Right, Outstanding           6,824,712  
Weighted average exercise price of Warrant Per Share | $ / shares           $ 3.48  
2020 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock authorized for issuance           4,298,068  
Shares available for future issuance           0  
Award vesting period           4 years  
Percentage of options vesting           25.00%  
Number of quarterly installments for vesting | Installment           36  
Share-based payment award, expiration period           10 years  
Number of quarterly installments for vesting succeeding period           3 years  
2020 Equity Incentive Plan | Minimum [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Grant exercise price, percentage of estimated fair value of common stock on date of grant (not less than)           110.00%  
Combined voting power on all classes of stock threshold           10.00%  
2021 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock authorized for issuance       35,075,122   45,301,059  
Issuance of common stock, shares 3,304,820 5,539,145   11,413,572      
Percentage of number of shares of common stock outstanding       5.00%      
2021 Equity Incentive Plan | Maximum [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares available for future issuance       23,661,550      
Two Thousand And Twenty Two Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares available for future issuance           991,231  
Two Thousand And Twenty One Employee Stock Purchase Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock authorized for issuance       1,342,773   351,542  
Shares available for future issuance           18,937,026  
Stock based compensation expense | $           $ 100 $ 100
Two Thousand And Twenty Employee Stock Purchase Plan Member              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Shares available for future issuance           0  
PHP Warrants Outstanding [Member]              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Issuance of common stock, shares     6,824,712     0  
Repurchased common stock, per share | $ / shares     $ 3.48        
Warrant expense | $     $ 17,400        
Class of Warrant or Right, Outstanding           6,824,712  
Weighted average exercise price of Warrant Per Share | $ / shares           $ 3.48  
Weighted-average remaining contractual term (Years)           8 years 7 months 17 days  
Share-Based Payment Arrangement, Option [Member] | 2021 Equity Incentive Plan              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock authorized for issuance           22,065,965  
Share-Based Payment Arrangement, Option [Member] | Two Thousand And Twenty Employee Stock Purchase Plan Member              
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Number of shares of common stock authorized for issuance           4,298,068