Quarterly report pursuant to Section 13 or 15(d)

Equity Incentive Plans - Additional Information (Details)

v3.23.2
Equity Incentive Plans - Additional Information (Details) - USD ($)
 3 Months Ended 6 Months Ended 12 Months Ended
Jan. 01, 2023
Jan. 01, 2022
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock vesting period         4 years      
Weighted-average grant date fair value of options granted     $ 2.6   $ 1.54      
Shares issued     57,989,273   57,989,273   58,221,760  
Stock options exercised, shares     55,047   55,047      
Early exercise of stock options repurchase right lapse period         180 days      
Shares remained subject to the right of repurchase as a result of the early exercised stock options     182,464   182,464   554,695  
Stock Issued During Period Shares Stock Options Exercised And Repurchased     163,526 50,713 190,468 50,713    
Shares reserved for future issuance     17,448,042   17,448,042   13,893,161  
Share-based compensation, liabilities for restricted stock awards, cancelled       0   0    
Stock-based compensation expense     $ 2,845,000 $ 3,360,000 $ 6,108,000 $ 6,702,000    
2021 Employee Stock Purchase Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Shares issued     65,222 207,137 65,222 207,137    
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 0 0    
Share-based compensation, liabilities for restricted stock awards, cancelled         9,594      
Share-based compensation, liabilities for restricted stock awards, vested         653,970   553,443  
Outstanding Stock Option Awards                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Stock-based compensation expense     $ 2,857,000 $ 3,246,000 $ 6,009,000 $ 6,440,000    
Unrecognized stock-based compensation expense     20,800,000   $ 20,800,000   $ 31,000,000  
Unrecognized stock-based compensation expense, expected to be recognized period         2 years 9 months 18 days   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     300,000 $ 100,000 $ 700,000 $ 100,000    
Accrued Expenses and Other Liabilities                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Remaining liability related to early exercised shares     $ 100,000   $ 100,000   $ 100,000  
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      
Common stock vesting period         4 years      
Share based compensation arrangement by share based payment award, exercise price percentage         10.00%      
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 Grant Plan [Member]                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Increase in shares available for issuance 2,911,088 2,900,541            
2021 Stock Option and Incentive Plan                
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Common stock vesting period         10 years      
Shares reserved for future issuance     5,636,000   5,636,000      
Shares reserved and available for issuance         5.00%      
Grant date fair value of year one         $ 1,000,000      
Grant date fair value of year thereafter         $ 750,000      
Increase in shares available for issuance         7,188,823      
ESPP compensation expenses         $ 25,000,000      
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%      
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%