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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