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Equity Incentive Plans - Summary of Stock Based Compensation Fair Value Assumptions (Details)
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years) 6 years 1 month 17 days   6 years 1 month 17 days  
Expected volatility 61.67%   61.67%  
Risk-free interest rate 4.28%   4.28%  
Maximum        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years)   6 years 25 days   6 years 25 days
Expected volatility   79.60%   79.73%
Risk-free interest rate   3.65%   3.67%
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 6 months 6 months
Expected volatility 197.51% 97.38% 197.51% 97.38%
Risk-free interest rate 5.40% 5.32% 5.40% 5.32%
Minimum        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years)   6 years 10 days   5 years 7 months 6 days
Expected volatility   78.53%   78.53%
Risk-free interest rate   3.48%   3.48%
Minimum | 2021 Employee Stock Purchase Plan        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years) 5 months 26 days 5 months 23 days 5 months 26 days 5 months 23 days
Expected volatility 100.00% 66.72% 100.00% 66.72%
Risk-free interest rate 5.37% 4.62% 5.37% 4.62%