Stock-Based Compensation - Schedule of Company's Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Number of Shares
Number of shares, stock options outstanding, beginning balance (in shares)	10,851,287
Granted (in shares)	4,850,889
Exercised (in shares)	(240,000)
Forfeited (in shares)	(1,886,138)
Number of shares, stock options outstanding, ending balance (in shares)	13,576,038	10,851,287
Stock options exercisable (in shares)	6,589,323
Weighted Average Exercise Price
Beginning balance, weighted average exercise price (in USD per share)	$ 2.95
Weighted average exercise price, granted (in USD per share)	1.06
Weighted average exercise price, exercised (in USD per share)	0.41
Weighted average exercise price, cancelled (in USD per share)	2.25
Ending balance, weighted average exercise price (in USD per share)	2.42	$ 2.95
Weighted average exercise price, options exercisable (in USD per share)	$ 2.72
Additional Disclosures
Weighted average remaining contractual life	8 years 1 month 6 days	8 years 3 months 18 days
Weighted average remaining contractual life, options exercisable	7 years 4 months 24 days
Aggregate intrinsic value	$ 51	$ 1,385
Aggregate intrinsic value, stock options exercisable	$ 51