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Common and Preferred Stock - Schedule of Common Stock Reserved for Issuance (Details) - shares
Sep. 30, 2025
Dec. 31, 2024
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 13,406,845 10,838,390
Shares reserved for exercises of outstanding stock options    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 10,191,313 7,634,937
Shares reserved for exercises of warrants    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 0 58,904
Shares reserved for issuance under the 2021 Employee Stock Purchase Plan    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 617,546 433,264
Shares reserved for issuance under the 2021 Stock Incentive Plan    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 1,806,622 1,919,921
Shares reserved for issuance as part of the K2HV Loan Agreement conversion feature    
Class of Stock [Line Items]    
Common stock available for issuance (in shares) 791,364 791,364