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Common Stock - Common Stock Reserved for Future Issuance (Details) - shares | Jun. 30, 2023 | Dec. 31, 2022
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Class of Stock [Line Items] |  |
Stock options issued and outstanding (in shares) | 14,699,055 | 11,485,443
Total shares of common stock reserved (in shares) | 38,598,735 | 31,172,221
2021 Equity Incentive Plan |  |
Class of Stock [Line Items] |  |
Shares available for grant under equity plan (in shares) | 20,321,798 | 17,298,043
2021 Employee Stock Purchase Plan |  |
Class of Stock [Line Items] |  |
Shares available for grant under equity plan (in shares) | 3,577,882 | 2,388,735

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