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Net Loss Per Share - Schedule of Potentially Dilutive Securities Excluded from Calculation of Diluted Net Loss Per Share (Details) - shares
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from calculation of diluted net loss per share 11,294,798 9,829,037
Stock Option    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from calculation of diluted net loss per share 10,793,201 9,030,712
Unvested Restricted Stock Units    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from calculation of diluted net loss per share 444,718 755,425
Unvested Restricted Stock Awards    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from calculation of diluted net loss per share 0 29,119
Shares purchasable under the 2021 Employee Stock Purchase Plan    
Antidilutive Securities Excluded From Computation Of Earnings Per Share [Line Items]    
Potentially dilutive securities excluded from calculation of diluted net loss per share 56,879 13,781