v3.24.2.u1
Stock-based Compensation - Additional Information (Details) - USD ($)
1 Months Ended 3 Months Ended 5 Months Ended 6 Months Ended
May 21, 2024
Jul. 31, 2021
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2021
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance     49,569,803     49,569,803   42,394,435
Share-based compensation, shares subject to repurchase     123,961     123,961   371,876
Stock-based compensation     $ 7,180,000 $ 7,012,000   $ 14,028,000 $ 13,857,000  
Accrued Expenses and Other Current Liabilities                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based compensation, liabilities associated with shares issued with repurchase rights     $ 155,000     $ 155,000   $ 464,000
Minimum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based compensation, common stock grant in period, term           5 years    
Employee Stock Option                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance     34,828,546     34,828,546   24,970,957
Stock vesting period           4 years    
Weighted-average grant date fair value of options granted     $ 1.48 $ 2.05   $ 1.28 $ 2.83  
Unrecognized compensation cost related to unvested stock option grants     $ 47,400,000     $ 47,400,000    
Unrecognized compensation cost expected to be recognized as expense, period           2 years 8 months 1 day    
Intrinsic value of options exercised     $ 123,000 $ 376,000   $ 170,000 $ 893,000  
Share-based compensation, options granted that vest based on performance milestone           11,596,445    
Employee Stock Option | Minimum | At the Time Option is Granted                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Percentage of fair market value of common stock           100.00%    
Employee Stock Option | Minimum | For Holders of More Than 10% of Company's Total Combined Voting Power of All Classes of Stock                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Percentage of fair market value of common stock           110.00%    
Employee Stock Option | Maximum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based compensation, plan expiration period           10 years    
Option Repricing | Black-Scholes Option Pricing Model                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based payment arrangement, incremental cost $ 1,100,000              
Option Repricing | Straight-line Basis Through Premium End Date                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based payment arrangement, incremental cost 559,000              
Option Repricing | Straight-line Basis Over Greater of Period Through Premium End Date                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based payment arrangement, incremental cost $ 558,000              
2018 Equity Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based compensation, options granted that vest based on performance milestone         0      
2021 Incentive Award Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance     12,913,020     12,913,020    
Shares of common stock, authorized for issuance   15,150,000            
Percentage of outstanding common stock maximum   5.00%            
2021 Incentive Award Plan | Option Repricing                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Share-based compensation, options repriced 7,478,918              
Decrease in stock option, exercise price $ 2.35              
ESPP                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock reserved for future issuance   1,260,000            
Unrecognized compensation cost related to unvested stock option grants     $ 1,000,000     $ 1,000,000    
Unrecognized compensation cost expected to be recognized as expense, period           1 year 5 months 19 days    
Stock-based compensation     103,000 $ 349,000   $ 444,000 $ 1,100,000  
Share-based payment arrangement, withheld on behalf of employees for future purchase     $ 43,000     $ 43,000   $ 46,000
Offering period   24 months            
Purchase period   6 months            
Shares issued under ESPP     252,444 223,696   252,444 223,696  
ESPP | Minimum                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Percentage of fair market value of common stock   85.00%