Stock-based Compensation - Summary of Stock Options Activity (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 Compensation Arrangement by Share-Based Payment Award, Options, Outstanding [Roll Forward]
Number of Shares, Outstanding | shares	13,632,278
Number of Shares, Granted | shares	3,766,550
Number of Shares, Cancelled | shares	(392,509)
Number of Shares, Outstanding | shares	17,006,319	13,632,278
Number of Shares, Vested and expected to vest | shares	17,006,319
Number of Shares, Vested and exercisable | shares	10,208,053
Weighted Average Exercise Price Per Share
Weighted Average Exercise Price Per Share, Outstanding | $ / shares	$ 18.48
Weighted Average Exercise Price Per Share, Granted | $ / shares	4.49
Weighted Average Exercise Price Per Share, Cancelled | $ / shares	21.46
Weighted Average Exercise Price Per Share, Outstanding | $ / shares	15.31	$ 18.48
Weighted Average Exercise Price Per Share, Vested and expected to vest | $ / shares	15.31
Weighted Average Exercise Price Per Share, Vested and exercisable | $ / shares	$ 16.37
Weighted Average Remaining Contractual Term and Aggregate Intrinsic Value
Weighted Average Remaining Contractual Term (years), Outstanding	7 years 4 months 24 days	7 years 8 months 12 days
Weighted Average Remaining Contractual Term (years), Vested and expected to vest	7 years 4 months 24 days
Weighted Average Remaining Contractual Term (years), Vested and exercisable	6 years 7 months 6 days
Aggregate Intrinsic Value, Outstanding | $	$ 4,913	$ 10,937
Aggregate Intrinsic Value, Vested and expected to vest | $	4,913
Aggregate Intrinsic Value, Vested and exercisable | $	$ 4,874