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Common Stock - Common Stock Reserved for Future Issuance (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class of Stock [Line Items]    
Stock options issued and outstanding (in shares) 16,304,969 14,676,335
Total shares of common stock reserved (in shares) 45,768,735 38,461,033
2021 Equity Incentive Plan    
Class of Stock [Line Items]    
Shares available for grant under equity plan (in shares) 24,707,942 20,279,560
2021 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Shares available for grant under equity plan (in shares) 4,755,824 3,505,138