Stock-Based Compensation Expense - Summary of Stock Option Activity Under Plans (Details) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Shares, Outstanding December 31, 2022 | shares	4,311,333
Shares, Granted | shares	2,016,730
Shares, Exercised | shares	(57,897)
Shares, Cancelled | shares	(431,489)
Shares, Outstanding at September 30, 2023 | shares	5,838,677	4,311,333
Weighted Average Exercise Price, Outstanding December 31, 2022 | $ / shares	$ 7.07
Weighted Average Exercise Price, Granted | $ / shares	2.86
Weighted Average Exercise Price, Exercised | $ / shares	1.76
Weighted Average Exercise Price, Cancelled | $ / shares	8.09
Weighted Average Exercise Price, Outstanding at September 30, 2023 | $ / shares	$ 5.59	$ 7.07
Outstanding, Weighted Average Remaining Contractual Life (in years)	8 years 3 months 18 days	8 years 2 months 12 days
Aggregate Intrinsic Value, Outstanding | $	$ 2,649	$ 378