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Equity Incentive Plans - Summary of Stock Based Compensation Fair Value Assumptions (Details)
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Dividend yield     0.00%  
2021 Employee Stock Purchase Plan        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years)   6 months   6 months
Expected volatility   76.50%   76.50%
Risk-free interest rate   1.51%   1.51%
Maximum        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years) 6 years 25 days 6 years 14 days 6 years 25 days 6 years 11 months 8 days
Expected volatility 79.60% 59.24% 79.73% 60.12%
Risk-free interest rate 3.65% 3.14% 3.67% 3.14%
Maximum | 2021 Employee Stock Purchase Plan        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years) 6 months   6 months  
Expected volatility 97.38%   97.38%  
Risk-free interest rate 5.32%   5.32%  
Minimum        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years) 6 years 10 days 5 years 11 months 23 days 5 years 7 months 6 days 5 years 4 months 17 days
Expected volatility 78.53% 58.74% 78.53% 58.74%
Risk-free interest rate 3.48% 2.82% 3.48% 1.34%
Minimum | 2021 Employee Stock Purchase Plan        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years) 5 months 23 days   5 months 23 days  
Expected volatility 66.72%   66.72%  
Risk-free interest rate 4.62%   4.62%