v3.24.0.1
Stockholder's Equity (Deficit) -Summary of Reserved Shares of Common Stock (Details)
Dec. 31, 2023
shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 33,213,670
Employee Stock Option  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 8,107,861
Restricted Stock Units (RSUs) [Member]  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 4,430,725
2021 ESPP [Member]  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 14,846,817
Employee Stock Purchase Plan [Member]  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 3,856,785
Committed To Settling Earn-out Liabilities [ Member]  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 98,162
Available For Conversion Of Non Voting Stock [Member]  
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]  
Issued and outstanding stock options 1,873,320