Stock-Based Compensation - Summary of Stock Option Activity (Details) - 2019 Plan $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Number of Options
Outstanding, Beginning Balance | shares	3,161,917
Granted | shares	1,783,900
Exercised | shares	(196,612)
Cancelled and forfeited | shares	(70,178)
Outstanding, Ending Balance | shares	4,679,027	3,161,917
Exercisable as of September 30, 2023 | shares	2,005,286
Weighted Average Exercise Price
Weighted Average Exercise Price Outstanding, Beginning Balance | $ / shares	$ 12.8
Weighted Average Exercise Price, Granted | $ / shares	15.18
Weighted Average Exercise Price, Exercised | $ / shares	3.2
Weighted Average Exercise Price, Cancelled and forfeited | $ / shares	10.77
Weighted Average Exercise Price Outstanding, Ending Balance | $ / shares	14.14	$ 12.8
Weighted Average Exercise Price, Exercisable as of September 30, 2023 | $ / shares	$ 14.22
Weighted Average Remaining Contractual Term (In years)
Weighted Average Remaining Contractual Term (In years), Outstanding	8 years	7 years 10 months 24 days
Weighted Average Remaining Contractual Term (In years), Exercisable as of September 30, 2023	6 years 9 months 18 days
Aggregate Intrinsic Value
Aggregate Intrinsic Value | $	$ 19,912	$ 16,612
Aggregate Intrinsic Value, Exercisable as of September 30, 2023 | $	$ 12,824