Stock-Based Compensation - Stock Option Activity Under Stock Option Plan (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Number of Shares
Beginning Balance			10,408,622
Granted	10,000	1,275,000	3,695,167	7,150,438
Cancelled			(1,686,760)
Ending Balance	12,417,029		12,417,029		10,408,622
Options exercisable, at end of period	6,126,738		6,126,738		3,891,598
Options available for future grant	13,451,681		13,451,681
Weighted Average Exercise Price
Beginning Balance			$ 1.84
Granted			0.51
Cancelled			1.35
Ending Balance	$ 1.51		1.51		$ 1.84
Options exercisable, at end of period	$ 2.02		$ 2.02		$ 2.46
Weighted Average Contractual Term (Years)
Outstanding, at end of period			8 years 10 months 20 days
Options exercisable, at end of period			5 years 6 months 21 days		8 years 29 days
Aggregate Intrinsic Value
Outstanding, at end of period	$ 0		$ 0
Options exercisable, at end of period	$ 0		$ 0		$ 0