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Equity - Reserved Shares of Common Stock for Issuance (Details) - shares
Jun. 30, 2023
Dec. 31, 2022
Class of Stock [Line Items]    
Common stock reserved for issuance (in shares) 12,752,781 11,173,994
Options to purchase common stock    
Class of Stock [Line Items]    
Common stock reserved for issuance (in shares) 4,003,501 4,034,287
Restricted stock units    
Class of Stock [Line Items]    
Common stock reserved for issuance (in shares) 4,529,829 2,807,981
Shares available for future grant under the ESPP    
Class of Stock [Line Items]    
Common stock reserved for issuance (in shares) 1,572,504 1,179,902
2021 Plan    
Class of Stock [Line Items]    
Common stock reserved for issuance (in shares) 2,646,947 3,151,824