Stock-based Compensation - Additional Information (Details) $ in Thousands	1 Months Ended		3 Months Ended			9 Months Ended		12 Months Ended	27 Months Ended
	Jan. 31, 2023 shares	Oct. 31, 2020 shares	Sep. 30, 2023 USD ($) shares	Mar. 31, 2023 shares	Sep. 30, 2022 USD ($) shares	Sep. 30, 2023 USD ($) Installment shares	Sep. 30, 2022 USD ($) shares	Dec. 31, 2022 shares	Dec. 31, 2022 shares
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted						3,766,550
Gross proceeds from issuance of common stock | $						$ 257	$ 140
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Issuance of common stock under ESPP, shares			36,136	57,803	29,036
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units granted						2,264,700	182,350
Number of units cancelled due to terminations						34,998
Aggregate grant date fair market value of restricted stock units granted | $						$ 10,384	$ 1,302
Number of installments | Installment						3
Unrecognized compensation expense | $			$ 8,408			$ 8,408
Remaining weighted average period for recognize compensation expense						2 years 2 months 12 days
Performance-based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of units granted							742,070
Number of units cancelled due to terminations								17,100
Aggregate grant date fair market value of restricted stock units granted | $							$ 5,298
Performance based restricted stock units terms of award						The performance stock unit awards provide for a performance period from February 1, 2022 through January 31, 2025 to achieve up to six defined performance metrics. The percentage of each award eligible to vest will be determined based on the number of metrics achieved during the performance period and may range from 0% to 200%. The Company has not recognized any compensation expense through September 30, 2023, as the minimum performance criteria had not been deemed probable. The vesting of any eligible awards will occur in equal installments on January 31, 2025 and January 31, 2026.
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares granted			125,000		358,500	3,766,550	3,740,917
Aggregate grant date fair market value | $			$ 295		$ 2,188	$ 12,341	$ 19,217
Vesting service period						4 years
Award contractual term						10 years
Unrecognized compensation expense | $			$ 66,168			$ 66,168
Remaining weighted average period for recognize compensation expense						2 years 4 months 24 days
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of shares of common stock Outstanding		1.00%
Common stock, capital shares reserved for future issuance		1,187,000
Issuance of common stock under ESPP, shares			36,136		26,036	93,939	26,036
Gross proceeds from issuance of common stock | $			$ 92		$ 140	$ 257	$ 140
Employee Stock Purchase Plan | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increased number of shares available under plan	832,876
2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Increased number of shares available under plan	4,164,381								8,285,983
Percentage of shares of common stock Outstanding		5.00%
Common stock, capital shares reserved for future issuance			6,521,704			6,521,704
Minimum | Performance-based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting percentage							0.00%
Maximum | Performance-based Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Award vesting percentage							200.00%
Maximum | 2020 Incentive Award Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant		7,924,000
Maximum | 2020 Incentive Award Plan | From 2013 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares available for grant		5,982,266