Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans and Stock-Based Compensation - Narrative (Details)

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Equity Incentive Plans and Stock-Based Compensation - Narrative (Details) - USD ($)
$ in Millions
6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Aggregate intrinsic value of options outstanding $ 2.0   $ 2.3
Granted (in shares) 0 0  
Number of shares of common stock reserved for issuance (in shares) 4,266,098   2,591,418
Reserved for employee stock purchase plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares of common stock reserved for issuance (in shares) 284,440   210,606
2021 Stock Option Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares of common stock reserved for issuance (in shares) 789,655    
2021 Stock Option Plan | Shares available for future grant under 2021 Equity Incentive Plan      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Number of shares of common stock reserved for issuance (in shares) 789,655   844,496
Restricted stock units      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation cost $ 24.6 $ 37.3  
Unrecognized compensation cost, period for recognition 2 years 8 months 12 days 2 years 8 months 12 days  
Employee Stock Option      
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]      
Unrecognized compensation cost, period for recognition 8 months 12 days