Stock-based Compensation - Schedule of Stock Options Activity (Details) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Share-Based Payment Arrangement [Abstract]
Number of Options, Outstanding, Beginning as of December 31, 2022 \| shares	13,434,083
Number of Options, Exercised \| shares	(458,565)
Number of Options, Forfeited \| shares	(418,700)
Number of Options, Expired \| shares	(59,564)
Number of Options, Outstanding, Ending At September 30, 2023 \| shares	12,497,254	13,434,083
Number of Options, Vested and exercisable as of September 30, 2023 \| shares	11,528,748
Number of Options, Vested and expected to vest as of September 30, 2023 \| shares	12,497,254
Weighted- Average Exercise Price, Outstanding, Beginning as of December 31, 2022 \| $ / shares	$ 0.67
Weighted- Average Exercise Price, Exercised \| $ / shares	0.33
Weighted- Average Exercise Price, Forfeited \| $ / shares	2.99
Weighted- Average Exercise Price, Expired \| $ / shares	0.26
Weighted- Average Exercise Price, Outstanding, Ending as of September 30, 2023 \| $ / shares	0.6	$ 0.67
Weighted- Average Exercise Price, Vested and exercisable as of September 30, 2023 \| $ / shares	0.52
Weighted- Average Exercise Price, Vested and expected to vest as of September 30, 2023 \| $ / shares	$ 0.6
Weighted-Average Remaining Contractual Life (Years), Outstanding	5 years 9 months 25 days	6 years 9 months 7 days
Weighted-Average Remaining Contractual Life (Years), Vested and exercisable as of September 30, 2023	5 years 8 months 8 days
Weighted-Average Remaining Contractual Life (Years), Vested and expected to vestas of September 30, 2023	5 years 9 months 25 days
Aggregate Intrinsic Value, Outstanding \| $	$ 4,151	$ 11,593
Aggregate Intrinsic Value, Vested and exercisable as of September 30, 2023 \| $	4,034
Aggregate Intrinsic Value, Vested and expected to vest as of September 30, 2023 \| $	$ 4,151

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Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

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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.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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

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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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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. 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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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. 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 price at which grantees could have acquired the underlying shares with respect to stock options of the plan that expired.

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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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