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Stock-Based Compensation - Additional Information (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended
Jan. 01, 2024
shares
Oct. 19, 2021
Offeringperiod
shares
Sep. 30, 2024
USD ($)
Employee
Consultant
shares
Sep. 30, 2024
USD ($)
Consultant
Employee
$ / shares
shares
Sep. 30, 2023
USD ($)
Employee
$ / shares
shares
Dec. 31, 2023
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Net decrease to stock-based compensation expense | $       $ 17,765 $ 22,443  
Number of employees terminated | Employee     1 1 1  
Number of consultant | Consultant     1 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       $ 2.34 $ 22.56  
Total intrinsic value of stock options exercised | $       $ 500 $ 22,500  
Net decrease to stock-based compensation expense | $     $ 100 100    
Incremental stock-based compensation expense | $         $ 100  
Unrecognized stock-based compensation expense | $     32,800 $ 32,800    
Unrecognized stock-based compensation expense, weighted average period       2 years 3 months 18 days    
Reversal of stock based compensation for acceleration of unvested options | $     300 $ 300    
Offset by recognition of stock based compensation expense | $     200 $ 200    
Restricted Stock Awards            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Options granted vesting period       3 years    
Shares repurchased | shares       0 0  
Employee service share based compensation liability for unvested award | $     0 $ 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 | $     $ 5,000 $ 5,000    
Unrecognized stock-based compensation expense, weighted average period       1 year 6 months    
2021 Equity Incentive Plan            
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]            
Shares authorized for issuance | shares   5,612,000 12,102,048 12,102,048   9,018,173
Number of shares that may be issued in accordance with plan | shares 2,962,617 5,102,000        
Number of common shares to be added | shares   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 | shares     3,050,378 3,050,378   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 | shares 592,523 510,000        
Number of shares that may be issued in accordance with plan | shares   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 | shares   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 | shares       56,903 9,765  
Weighted average price of shares issued under ESPP | $ / shares       $ 2.01 $ 21.91