Stock-Based Compensation - Schedule of Stock Option Activity (Details) - 2021 Plan and 2017 Plan - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Stock Based Compensation Details [Line Items]
Options opening balance	25,059,409
Options Granted	7,416,215
Options Exercised	(1,086,371)
Options Forfeited	(2,309,879)
Options ending balance	29,079,374	25,059,409
Options, Vested and expected to vest	29,079,374
Options, Exercisable	20,461,611
Weighted average exercise price, beginning balance	$ 4.90
Weighted average exercise price, Granted	0.54
Weighted average exercise price, Exercised	0.28
Weighted average exercise price, Forfeited	4.02
Weighted average exercise price, ending balance	3.99	$ 4.90
Weighted average exercise price, Vested and expected to vest	3.99
Weighted average exercise price, Exercisable	$ 4.58
Weighted average contract term	6 years 2 months 12 days	6 years 1 month 6 days
Weighted average contract term, Vested and expected to vest	6 years 2 months 12 days
Weighted average contract term, Exercisable	4 years 9 months 18 days
Aggregate Intrinsic Value		$ 7,851