v3.24.1.u1
Stockholders' Equity and Equity Incentive Plans - Schedule of Reserved Shares of Common Stock (Details) - shares
Mar. 31, 2024
Dec. 31, 2023
Class Of Stock [Line Items]    
Total reserved shares 53,511,753 47,910,141
Employee Stock Option | Option and Grant Plan    
Class Of Stock [Line Items]    
Total reserved shares 24,635,517 18,260,813
Equity Plan Stock Options Outstanding    
Class Of Stock [Line Items]    
Total reserved shares 13,504,931 14,268,055
RSUs Outstanding    
Class Of Stock [Line Items]    
Total reserved shares 10,091,214 11,301,279
2021 Employee Stock Purchase Plan    
Class Of Stock [Line Items]    
Total reserved shares 5,280,091 4,079,994