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Stock-Based Compensation - Additional Information (Details) $ / shares in Units, $ in Thousands |  |  | 6 Months Ended |
--- | --- | --- | --- | ---
Jan. 01, 2024 shares | Oct. 19, 2021 Offeringperiod shares | Jun. 30, 2024 USD ($) $ / shares shares | Jun. 30, 2023 USD ($) Employee $ / shares shares | Dec. 31, 2023 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Number of employees terminated | Employee |  |  |  | 1 |
Stock Option |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Weighted average grant date fair value of stock options granted | $ / shares |  |  | $ 2.50 | $ 22.38 |
Total intrinsic value of stock options exercised | $ |  |  | $ 500 | $ 15,300 |
Incremental stock-based compensation expense | $ |  |  |  | $ 100 |
Unrecognized stock-based compensation expense | $ |  |  | $ 39,000 |  |
Unrecognized stock-based compensation expense, weighted average period |  |  | 2 years 3 months 18 days |  |
Restricted Stock Awards |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Options granted vesting period |  |  | 3 years |  |
Shares repurchased |  |  | 0 | 0 |
Employee service share based compensation liability for unvested award | $ |  |  | $ 0 |  |
Restricted Stock Units |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Options granted vesting period |  |  | 4 years |  |
Unrecognized stock-based compensation expense other than stock option | $ |  |  | $ 6,200 |  |
Unrecognized stock-based compensation expense, weighted average period |  |  | 1 year 9 months 18 days |  |
2021 Equity Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Shares authorized for issuance |  | 5,612,000 | 11,980,790 |  | 9,018,173
Number of shares that may be issued in accordance with plan | 2,962,617 | 5,102,000 |  |  |
Number of common shares to be added |  | 4,978,561 |  |  |
Percentage of outstanding shares of common stock that may be issued in accordance with plan |  | 5.00% |  |  |
Shares remained available for grant |  |  | 2,731,595 |  | 317,001
2019 and 2021 Equity Incentive Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Term of stock options granted |  |  | 10 years |  |
2019 and 2021 Equity Incentive Plan | Minimum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Options granted vesting period |  |  | 1 year |  |
2019 and 2021 Equity Incentive Plan | Maximum |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Options granted vesting period |  |  | 4 years |  |
2021 Employee Stock Purchase Plan |  |  |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |  |  |
Shares authorized for issuance | 592,523 | 510,000 |  |  |
Number of shares that may be issued in accordance with plan |  | 1,020,000 |  |  |
Percentage of closing price on offering commencement date that participating employees purchase stock under plan |  | 85.00% |  |  |
Percentage of closing price on offering termination date that participating employees purchase stock under plan |  | 85.00% |  |  |
Number of offering periods | Offeringperiod |  | 2 |  |  |
Duration of offering periods |  | 6 months |  |  |
Maximum percentage of eligible compensation of employee |  | 15.00% |  |  |
Maximum number of shares an employee can purchase under plan |  | 3,000 |  |  |
Percentage of outstanding shares of common stock that may be issued in accordance with plan |  | 1.00% |  |  |
Shares issued under employee stock purchase plan, shares |  |  | 56,903 | 9,765 |
Weighted average price of shares issued under ESPP | $ / shares |  |  | $ 2.01 | $ 21.91 |

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