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Liabilities, Convertible Preferred Stock and Stockholders' (Deficit) Equity - Assumptions used to Estimate the Fair Value of Stock Options Granted (Details)
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]              
Dividend yield         0.00% 0.00% 0.00%
Stock Options Granted              
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]              
Expected term (in years)         6 years 5 years 11 months 26 days 6 years 1 month 6 days
Expected volatility         84.00% 83.00% 76.00%
Risk-free interest         2.93% 0.88% 1.06%
Dividend yield         0.00% 0.00% 0.00%
2016 ESPP              
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]              
Expected term (in years) 6 months 6 months 5 months 26 days 5 months 26 days 5 months 26 days 6 months 6 months
Expected volatility 222.00% 95.00% 181.00% 84.00% 84.00% 86.00% 76.00%
Risk-free interest 5.29% 3.26% 4.99% 1.95% 1.95% 0.08% 0.75%
Dividend yield 0.00% 0.00% 0.00% 0.00% 0.00% 0.00% 0.00%
2016 Plan              
Employee Service Share Based Compensation Allocation of Recognized Period Costs [Line Items]              
Expected term (in years) 6 years 29 days 6 years 7 days 6 years 14 days 5 years 11 months 15 days      
Expected volatility 101.00% 85.00% 111.00% 83.00%      
Risk-free interest 4.28% 3.16% 4.07% 2.43%      
Dividend yield 0.00% 0.00% 0.00% 0.00%