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Equity Incentive Plans - Summary of Stock Based Compensation Fair Value Assumptions (Details)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Dividend yield	0.00%	0.00%
Two Thousand Twenty One Employee Stock Purchase Plan [ Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Dividend yield	0.00%	0.00%
Minimum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	5 years 7 months 6 days	5 years 4 months 17 days
Expected volatility	60.72%	58.74%
Risk-free interest rate	3.07%	1.35%
Minimum [Member] | Two Thousand Twenty One Employee Stock Purchase Plan [ Member]
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%	76.50%
Risk-free interest rate	4.62%	1.51%
Maximum [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 years 25 days	6 years 11 months 12 days
Expected volatility	61.80%	64.97%
Risk-free interest rate	4.35%	3.97%
Maximum [Member] | Two Thousand Twenty One Employee Stock Purchase Plan [ Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected term (in years)	6 months	6 months
Expected volatility	197.51%	97.38%
Risk-free interest rate	5.40%	4.62%

X

- Definition

The estimated dividend rate (a percentage of the share price) to be paid (expected dividends) to holders of the underlying shares over the option's term.

+ References

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-Topic 718
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- Definition

The estimated measure of the percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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- Definition

The risk-free interest rate assumption that is used in valuing an option on its own shares.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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