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Stock Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	12 Months Ended
	Oct. 31, 2021	Dec. 31, 2023	Dec. 31, 2022
Stock-based compensation
Vesting of early exercised options (in shares)		14,745	53,741
Unvested early exercises of stock options		$ 100	$ 200
Proceeds from exercise of stock options		$ 443	$ 284
Restricted stock units, vested (in shares)		138,361
ESPP
Stock-based compensation
Stock authorized for issuance (in shares)		839,539	563,115
Stock Options
Stock-based compensation
Aggregate intrinsic value of stock options exercised		$ 2,100	$ 1,000
Proceeds from exercise of stock options		$ 1,200	$ 200
Weighted-average grant-date fair value of stock options granted (in dollars per share)		$ 9.23	$ 7.51
Unrecognized compensation cost		$ 20,700
Unrecognized compensation cost, weighted-average period for recognition		2 years 2 months 12 days
Outstanding restricted stock
Stock-based compensation
Vesting period		4 years
Unrecognized compensation cost		$ 15,100
Unrecognized compensation cost, weighted-average period for recognition		3 years 2 months 1 day
Outstanding restricted stock \| Tranche One
Stock-based compensation
Vesting percentage		25.00%
Outstanding restricted stock \| Tranche Two
Stock-based compensation
Vesting percentage		25.00%
Outstanding restricted stock \| Tranche Three
Stock-based compensation
Vesting percentage		25.00%
Outstanding restricted stock \| Tranche Four
Stock-based compensation
Vesting percentage		25.00%
2021 Plan
Stock-based compensation
Shares annual increase as percentage		4.00%
Stock authorized for issuance (in shares)		6,336,068	5,262,917
2016 Stock Plan
Stock-based compensation
Stock authorized for issuance (in shares)		2,044,585	2,206,655
2021 Employee Stock Purchase Plan \| ESPP
Stock-based compensation
Shares annual increase as percentage	1.00%
Stock authorized for issuance (in shares)	278,762
Shares remaining available for future issuance (in shares)	557,524