Stock Incentive Plans - Summary of Stock Option Activity Under Stock Incentive Plan (Details) - Stock Options $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Number of Options
Balance at the beginning of the period (in shares) | shares	36,156,445
Granted (in shares) | shares	6,080,148
Exercised (in shares) | shares	(2,820,110)
Canceled and forfeited (in shares) | shares	(2,197,285)
Balance at the end of the period (in shares) | shares	37,219,198	36,156,445
Number of options, Exercisable | shares	10,257,006
Vested, Number of Options (in shares) | shares	7,688,183
Weighted-Average Exercise Price per Share
Balance at the beginning of the period (in dollars per share) | $ / shares	$ 16.37
Granted (in dollars per share) | $ / shares	5.35
Exercised (in dollars per share) | $ / shares	1.40
Canceled and forfeited (in dollars per share) | $ / shares	13.33
Balance at the end of the period (in dollars per share) | $ / shares	15.97	$ 16.37
Exercisable, Weighted-Average Exercise Price, Per Share (in dollars per share) | $ / shares	11.69
Vested, Weighted-Average Exercise Price per Share (in dollars per share) | $ / shares	$ 9.99
Option Activity, Additional Disclosures
Options outstanding, Weighted Average Remaining Contractual Life (Years)	7 years 9 months 3 days	7 years 8 months 1 day
Exercisable, Weighted Average Remaining Contractual Life (in years)	7 years 7 months 28 days
Options Vested, Weighted Average Remaining Contractual Life (Years)	7 years 2 months 4 days
Options outstanding, Aggregate Intrinsic Value (in USD) | $	$ 18,522	$ 29,101
Options Vested, Aggregate Intrinsic Value (in USD) | $	13,141
Exercisable, Aggregate Intrinsic Value | $	$ 14,507