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Stock-based Compensation - Narrative (Details) - USD ($) $ in Thousands |  | 1 Months Ended | 3 Months Ended | 6 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | ---
Aug. 12, 2021 | Feb. 28, 2022 | Jun. 30, 2023 | Mar. 31, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022 | May 08, 2023 | Mar. 22, 2023 | Mar. 21, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Options vested exercised, aggregate intrinsic value |  |  | $ 10 |  | $ 3,700 | $ 200 | $ 4,100 |  |  |
Issuance of common stock to non-employees |  |  |  | $ 112 |  |  |  |  |  |
Consulting expense |  |  | 2,577 |  | 3,035 | $ 4,297 | 5,247 |  |  |
Share-Based Payment Arrangement, Nonemployee |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Issuance of common stock to non-employees (in shares) |  |  |  |  |  | 135,000 |  |  |  |
Issuance of common stock to non-employees |  |  |  |  |  | $ 100 |  |  |  |
Expiration period |  |  |  |  |  | 6 months |  |  |  |
Consulting expense |  |  | 50 |  |  | $ (100) |  |  |  |
Restricted stock units |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Unrecognized compensation cost, period of recognition |  |  |  |  |  | 1 year 8 months 12 days |  |  |  |
Unrecognized compensation cost |  |  | 21,100 |  |  | $ 21,100 |  |  |  |
Options |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Unrecognized compensation cost for unvested options |  |  | 600 |  |  | $ 600 |  |  |  |
Unrecognized compensation cost, period of recognition |  |  |  |  |  | 1 year 3 months 18 days |  |  |  |
Consulting expense |  |  | 92 |  | 174 | $ 188 | 251 |  |  |
Outstanding Vested and Expected to Vest RSUs |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Unrecognized compensation cost |  |  | $ 4,700 |  |  | $ 4,700 |  |  |  |
Performance Awards |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares that would have been settled (in shares) |  |  | 0 |  |  | 0 |  |  |  |
Consulting expense |  |  | $ 0 |  | $ (70) | $ 0 | $ (70) |  |  |
2021 Equity Incentive Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares reserved for future issuance (in shares) | 5,982,922 |  |  |  |  |  |  |  |  |
Evergreen provision, percentage of outstanding shares | 3.00% |  |  |  |  |  |  |  |  |
2021 Equity Incentive Plan | Restricted stock units |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Remaining shares available for grant (in shares) |  |  | 1,275,145 |  |  | 1,275,145 |  |  |  |
Evergreen Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of additional shares available for grant (in shares) |  |  |  |  |  | 2,533,234 |  |  |  |
Legacy Stock Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of additional shares available for grant (in shares) |  |  |  |  |  | 206,111 |  |  |  |
2021 Employee Stock Purchase Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares reserved for future issuance (in shares) | 1,595,445 |  |  |  |  |  |  |  |  |
Evergreen provision, percentage of outstanding shares | 0.50% |  |  |  |  |  |  |  |  |
Number of additional shares available for grant (in shares) |  |  |  |  |  | 422,205 |  |  |  |
Remaining shares available for grant (in shares) |  |  | 2,151,771 |  |  | 2,151,771 |  |  |  |
Shares issued under ESPP (in shares) |  |  |  |  |  | 106,545 |  |  |  |
Outstanding liability |  |  | $ 30 |  |  | $ 30 |  |  |  |
2022 Inducement Equity Plan |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |
Number of shares reserved for future issuance (in shares) |  | 4,000,000 |  |  |  |  |  | 8,000,000 | 7,000,000 | 7,000,000
Remaining shares available for grant (in shares) |  |  | 771,746 |  |  | 771,746 |  |  |  |
Vesting period |  | 4 years |  |  |  |  |  |  |  |

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