Stock-Based Compensation - Schedule of Assumptions Used to Estimate Fair Value Time Based Vesting of Stock Options, Performance and Service-based Stock Options (Details)	3 Months Ended	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2023	Sep. 30, 2022
Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate	4.22%	3.61%	2.16%
Expected term in years	5 years 6 months	5 years 6 months	6 years 1 month 6 days
Expected volatility	81.00%	81.00%	76.00%
Performance Stock Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Risk-free interest rate		4.02%
Expected term in years		6 years
Expected volatility		81.00%