Stock Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, $ in Millions	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Number of Shares, Exercisable | shares	1,796,986	1,391,047
Number of Shares, Beginning Balance | shares	2,841,419
Number of Shares, Granted | shares	428,278
Number of Shares, Exercised | shares	(189,404)
Number of Shares, Forfeited | shares	(141,900)
Number of Shares, Expired | shares	(7,301)
Number of Shares, Ending Balance | shares	2,931,092	2,841,419
Weighted Average Exercise Price Per Share, Exercisable | $ / shares	$ 8.5	$ 6.09
Weighted Average Exercise Price Per Share, Beginning Balance | $ / shares	11.33
Weighted Average Exercise Price Per Share, Granted | $ / shares	15.82
Weighted Average Exercise Price Per Share, Exercised | $ / shares	7.19
Weighted Average Exercise Price Per Share, Forfeited | $ / shares	18.65
Weighted Average Exercise Price Per Share, Expired | $ / shares	24.46
Weighted Average Exercise Price Per Share, Ending Balance | $ / shares	$ 11.87	$ 11.33
Average Remaining Contractual Term, Exercisable	6 years 7 months 6 days	7 years 2 months 12 days
Average Remaining Contractual Term	7 years 3 months 18 days	7 years 8 months 12 days
Aggregate Intrinsic Value, Exercisable | $	$ 17.7	$ 36.4
Aggregate Intrinsic Value | $	$ 21.8	$ 61.4