Share-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Number of shares
Balance at the beginning (in shares)	8,049,474	6,921,180
Granted (in shares)	1,948,354	1,563,633
Exercised (in shares)	(14,616)	(460,385)
Forfeited (in shares)	(1,050,646)	(833,687)
Expired (in shares)	(103,184)	(1,876)
Balance at the end (in shares)	8,829,382	7,188,865
Vested options exercisable at the end (in shares)	3,915,306	2,762,097
Weighted average exercise price
Balance at the beginning (in dollars per share)	$ 2.14	$ 0.89
Granted (in dollars per share)	0.48	7.14
Exercised (in dollars per share)	0.86	0.91
Forfeited (in dollars per share)	2.31	2.17
Expired (in dollars per share)	1.32	1.13
Balance at the end (in dollars per share)	1.76	2.10
Vested options exercisable at the end (in dollars per share)	$ 1.32	$ 0.87
Weighted average remaining contractual term
Balance at the end (in years)	7 years 1 month 2 days	7 years 6 months 3 days
Vested options exercisable at the end (in years)	5 years 10 months 28 days	6 years 8 months 26 days
Aggregate intrinsic value (in thousands)	$ 4,110	$ 21,744
Vested Options Exercisable	$ 1,925	$ 10,391