Condensed Consolidated Balance Sheets (Parenthetical) - $ / shares	Sep. 30, 2023	Dec. 31, 2022
Preferred stock par value per share	$ 0.001
Preferred stock shares authorized	5,000,000
Common stock, par value	$ 0.001	$ 0.001
Common stock, shares authorized	100,000,000	100,000,000
Common stock, shares issued	37,978,142	37,756,574
Common stock, shares outstanding	37,978,142	37,756,574
Redeemable Convertible Preferred Stock
Temporary equity,par value	$ 0.001	$ 0.001
Temporary equity, shares authorized	123,418	123,418
Temporary equity, shares outstanding	0	12,340
Temporary equity, shares issued	0	12,340
Preferred stock shares authorized	123,418
Convertible Preferred Stock
Preferred stock par value per share	$ 0.001	$ 0.001
Preferred stock shares authorized	123,418	123,418
Preferred stock shares issued	12,340	0
Preferred Stock, Shares Outstanding	12,340	0