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Equity Incentive Plans - Summary of Stock Based Compensation Fair Value Assumptions (Details)
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years)     6 years 1 month 17 days  
Expected volatility   79.82% 61.67%  
Risk-free interest rate   4.04% 4.28%  
Maximum        
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]        
Expected term (in years)   6 years 3 days   6 years 25 days
Expected volatility       79.82%
Risk-free interest rate       4.04%
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)   5 years 11 months 26 days   5 years 7 months 6 days
Expected volatility       78.53%
Risk-free interest rate       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%