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Stock-Based Compensation - Additional Information (Details) - USD ($)
$ / shares in Units, $ in Millions
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Option Granted 50,000  
Employees Including Executive Officers Earning Contribution 15.00%  
Percentage of fair market value, common stock 85.00%  
Share-based payment award, option vesting period 3 years  
Restricted Stock    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based payment award, award vesting rights, percentage 25.00%  
Incremental Share Based Compensation Expense $ 9.2  
Number of shares, Granted 113,333  
Unrecognized compensation cost $ 1.1  
Unrecognized compensation, weighted average amortization period 1 year 8 months 1 day  
Stock Options    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based payment award, award vesting rights, percentage 25.00%  
Share-based payment award, option vesting period 4 years  
Options grants in period, weighted average grant date fair value $ 2.25 $ 5.31
Unrecognized compensation cost $ 3.4  
Unrecognized compensation, weighted average amortization period 2 years 2 months 4 days  
Research and Development Expense    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Incremental Share Based Compensation Expense $ 0.5  
General and Administrative Expense    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Incremental Share Based Compensation Expense $ 8.7  
2019 Equity Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based payment award, description Under the terms of the 2019 Plan, options are granted at an exercise price no less than fair value of the Company’s common stock on the grant date, except in certain cases related to employees outside of the U.S. Option awards granted typically have 10-year terms measured from the option grant date. While no shares are available for future issuance under the 2019 Plan, it continues to govern outstanding equity awards granted thereunder.  
Share-based payment award, expiration period 10 years  
2021 Equity Incentive Plan    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based payment award, description The compensation committee of the Company's board of directors adopted and the Company's stockholders approved the 2021 Equity Incentive Plan (the 2021 Plan) and the 2021 Employee Stock Purchase Plan (the ESPP), which became effective immediately prior to the effectiveness of the Company's initial public offering (IPO). The 2021 Plan provides for the grant of incentive stock options, non-statutory stock options, restricted stock awards, restricted stock units, stock appreciation rights and other stock-based awards. The Company's employees, officers, directors and consultants are eligible to receive awards under the 2021 Plan. Under the terms of the 2021 Plan, options are granted at an exercise price no less than fair value of the Company’s common stock on the grant date, except in certain cases related to significant corporate transactions. Option awards granted typically have 10-year terms measured from the option grant date. In addition, the number of shares of common stock reserved for issuance under the 2021 Plan will automatically increase on January 1 of each year, beginning on January 1, 2022, and continuing through and including January 1, 2031, by 5% of the total number of shares of common stock outstanding on December 31 of the immediately preceding calendar year, or a lesser number of shares determined by the Company's board of directors prior to the applicable January 1st.  
Share-based payment award, expiration period 10 years  
Share-based payment award, number of shares authorized 5,215,558  
Number of Shares of Common Stock Outstanding Percentage 5.00%  
ESPP    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Share-based payment award, description The ESPP allows employees, including executive officers, to contribute up to 15% of their earnings, subject to certain limitations, for the purchase of the Company's common stock at a price per share equal to the lower of (a) 85% of the fair market value of a share of common stock on the first day of the offering period, or (b) 85% of the fair market value of a share of common stock on the last day of the offering period. As of September 30, 2023, there were 787,231 shares of common stock reserved for future issuance under the ESPP. The number of shares of common stock reserved for issuance under the ESPP will automatically increase on January 1 of each calendar year, beginning on January 1, 2022 and continuing through and including January 1, 2031, by the lesser of (1) 1% of the total number of shares of the Company's common stock outstanding on December 31 of the preceding calendar year or (2) a number of shares determined by the Company's board of directors. Shares subject to purchase rights granted under the ESPP that terminate without having been exercised in full will not reduce the number of shares available for issuance under the ESPP.  
Number of Shares of Common Stock Outstanding Percentage 1.00%  
Common stock reserved for future issuance 787,231  
Number of shares, Granted 0