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Equity Incentive Plans and Stock-based Compensation - Narrative (Details) - USD ($)
$ in Millions
 6 Months Ended
Jun. 30, 2023
Jan. 01, 2023
Dec. 31, 2022
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Shares of common stock reserved (in shares) 38,598,735   31,172,221
Unrecognized compensation expense $ 24.9    
Unrecognized compensation expense, period for recognition 2 years 4 months 24 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) 20,321,798   17,298,043
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)   6,243,274  
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) 3,577,882   2,388,735
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)   1,248,654  
Shares of common stock issued in period (in shares) 158,702    
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%