Stock Based Compensation - Summary of Unvested Stock Options (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022	Dec. 31, 2021
Stock Options (in 000's)
Outstanding - beginning balance (in shares)	1,652	1,768
Granted (in shares)	0	83
Exercised (in shares)		(2)
Forfeited (in shares)	(90)	(110)
Cancelled (in shares)	(46)	(86)
Outstanding - ending balance (in shares)	1,516	1,652	1,768
Options exercisable (in shares)	1,306
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 25.48	$ 26.51
Granted (in dollars per share)		14.16
Exercised (in dollars per share)		19.49
Forfeited (in dollars per share)	18.31	29.24
Cancelled (in dollars per share)	31.54	31.12
Ending balance (in dollars per share)	$ 25.69	$ 25.48	$ 26.51
Aggregate Intrinsic Value
Aggregate intrinsic value of shares outstanding, period start	$ 53	$ 2,897
Aggregate intrinsic value - exercised		10
Aggregate intrinsic value of shares outstanding, period end	$ 964	$ 53	$ 2,897
Weighted average remaining contractual life (years)	4 years 10 months 24 days	6 years 2 months 12 days	7 years 3 months 18 days