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Common Stock - Common Stock Reserved for Future Issuance (Details) - shares
Jun. 30, 2023
Dec. 31, 2022
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