Stock Incentive Plans - Summary of RSU Activity (Details) - $ / shares	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding at Beginning Balance	9,865,734
Number of Options, Granted	3,188,150
Number of Options, Outstanding at Ending Balance	12,426,742
Weighted-average grant date fair value per share for options granted	$ 1.01	$ 1.72
RSU Member
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Outstanding at Beginning Balance	543,179
Number of Options, Granted	483,850
RSU Vested	(281,117)
RSU, Forfeited	(258,184)
Number of Options, Outstanding at Ending Balance	487,728
Weighted-Average Grant Date Fair Value, Outstanding	$ 6.12
Weighted-average grant date fair value per share for options granted	1.6
Weighted-Average Grant Date Fair Value, Vested	5.31
Weighted-Average Grant Date Fair Value, Forfeited	2.54
Weighted-Average Grant Date Fair Value, Outstanding	$ 3.04