Stock-Based Compensation - Summary of Stock Option Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended	12 Months Ended
Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Stock Options
Stock Options Outstanding, Beginning Balance \| shares	23,686
Stock Options, Granted \| shares	8,161
Stock Options, Exercised \| shares	(693)
Stock Options, Forfeited/Cancelled \| shares	(1,769)
Stock Options Outstanding, Ending Balance \| shares	29,385	23,686
Stock Options Exercisable \| shares	12,722
Weighted-Average Exercise Price per Share
Weighted-Average Exercise Price per Share Outstanding, Beginning Balance \| $ / shares	$ 7.79
Weighted-Average Exercise Price per Share, Granted \| $ / shares	3.96
Weighted-Average Exercise Price per Share, Exercised \| $ / shares	1.78
Weighted-Average Exercise Price per Share, Forfeited/Cancelled \| $ / shares	8.98
Weighted-Average Exercise Price per Share Outstanding, Ending Balance \| $ / shares	6.79	$ 7.79
Weighted-Average Exercise Price Per Share Exercisable \| $ / shares	$ 7.52
Weighted-Average Remaining Contractual Life (years)
Weighted-Average Remaining Contractual Life (years), Outstanding	8 years	8 years 3 months 18 days
Weighted-Average Remaining Contractual Life (years), Exercisable	6 years 10 months 24 days
Aggregate Intrinsic Value
Aggregate Intrinsic Value, Outstanding \| $	$ 10,236	$ 10,628
Aggregate Intrinsic Value, Exercisable \| $	$ 7,795

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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