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Stock Option Plan and Stock-based Compensation - Narrative (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2022
Jan. 01, 2022
Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares of common stock reserved (in shares) 31,474,961   24,276,439
Unrecognized compensation expense $ 31.0    
Unrecognized compensation expense, period for recognition 2 years 11 months 8 days    
2021 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant under equity plan (in shares) 17,384,590   14,481,463
Number of additional shares authorized (in shares) 18,672,200    
Percentage of outstanding stock maximum 5.00%    
Increase in shares available for grant under equity plan (in shares)   6,215,154  
Award expiration period 10 years    
2021 Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares available for grant under equity plan (in shares) 2,439,577   1,244,900
Number of additional shares authorized (in shares) 3,734,500    
Percentage of outstanding stock maximum 1.00%    
Increase in shares available for grant under equity plan (in shares)   1,243,030  
Shares of common stock issued in period (in shares) 48,353    
2017 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares of common stock reserved (in shares) 7,106,767    
Employee Stock | 2021 Employee Stock Purchase Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Purchase price of common stock, percent 85.00%