Annual report pursuant to Section 13 and 15(d)

Equity Incentive Plans - Additional Information (Details)

v3.23.1
Equity Incentive Plans - Additional Information (Details) - USD ($)
12 Months Ended
Jan. 01, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock vesting period   4 years    
Shares reserved for future issuance   13,893,161 10,034,853  
Increase in shares available for issuance 564,000      
Early exercise of stock options repurchase right lapse period   180 days    
Weighted-average grant date fair value of options granted   $ 5.21    
Intrinsic value of the stock options exercised   $ 200,000 $ 5,000,000.0  
Stock Issued During Period Shares Stock Options Exercised And Repurchased   189,414 138,596  
Shares remained subject to the right of repurchase as a result of the early exercised stock options   554,695 1,195,631  
Remaining liability related to early exercised shares   $ 100,000 $ 300,000  
Stock-based compensation expense   13,534,000 $ 7,871,000  
Bayside Lease [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Tenant Improvements   12,200,000    
Non-employees        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Unrecognized stock-based compensation expense   $ 30,500,000    
Unrecognized stock-based compensation expense, expected to be recognized period   3 years 3 months 18 days    
2021 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares reserved for future issuance   564,000    
Percentage of lower of the fair market value of common stock at the beginning of the offering period or at the end of each applicable purchase period   85.00%    
Accrued liabilities   $ 100,000    
Maximum | 2021 Employee Stock Purchase Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Percentage of eligible compensation to purchase shares of the Company's common stock at a discount through payroll deductions   15.00%    
Restricted Stock Units (RSUs)        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock vesting period       4 years
Restricted stock awards granted   0 0  
Share-based compensation, liabilities for restricted stock awards, cancelled   5,140 0  
Share-based compensation, liabilities for restricted stock awards, vested   553,443 345,966  
Outstanding Stock Option Awards        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense   $ 13,132,000 $ 7,647,000  
Unrecognized stock-based compensation expense   $ 31,000,000.0    
Unrecognized stock-based compensation expense, expected to be recognized period   2 years 7 months 6 days    
Outstanding Stock Option Awards | Non-employees        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Stock-based compensation expense   $ 2.2 $ 300,000  
2020 Stock Option and Grant Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share based compensation arrangement by share based payment award, granted period   10 years    
Share based compensation arrangement by share based payment award, exercise price percentage   10.00%    
Common stock vesting period   4 years    
2020 Stock Option and Grant Plan | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share based compensation arrangement by share based payment award, exercise price percentage   100.00%    
2020 Stock Option and Grant Plan | Stock Option Grant to 10.0% Stockholder        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Common stock vesting period   5 years    
2020 Stock Option and Grant Plan | Stock Option Grant to 10.0% Stockholder | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share based compensation arrangement by share based payment award, exercise price percentage   110.00%    
2020 Stock Option and Grant Plan | Restricted Stock Units (RSUs)        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Restricted stock awards granted       832,983
2021 Stock Option and Incentive Plan        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Shares reserved for future issuance   5,636,000    
Shares reserved and available for issuance   5.00%    
Increase in shares available for issuance 2,900,541 5,382,907    
Grant date fair value of year one   $ 1,000,000.0    
Grant date fair value of year thereafter   $ 750,000,000.0    
2021 Stock Option and Incentive Plan | Minimum        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share based compensation arrangement by share based payment award, exercise price percentage   100.00%