Stock-Based Compensation - Schedule of Stock Option Activity (Details) - Stock Options $ / 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 Compensation Arrangement By Share Based Payment Award [Line Items]
Outstanding. Stock Options, Beginning Balance | shares	6,158,078
Options granted, Stock Options | shares	2,520,471
Options cancelled or forfeited, Stock Options | shares	(2,013,500)
Options expired, Stock Options | shares	(857,557)
Outstanding. Stock Options, Ending Balance | shares	5,807,492	6,158,078
Options exercisable at September 30, 2023, Stock Options | shares	1,036,300
Outstanding, Weighted Average Exercise Price, Beginning balance | $ / shares	$ 11.84
Options granted, Weighted Average Exercise Price | $ / shares	0.9
Options cancelled or forfeited, Weighted Average Exercise Price | $ / shares	10.88
Options expired, Weighted Average Exercise Price | $ / shares	22.26
Outstanding, Weighted Average Exercise Price, Ending balance | $ / shares	5.89	$ 11.84
Options exercisable at September 30, 2023, Weighted Average Exercise Price | $ / shares	$ 18.48
Outstanding, Weighted Average Remaining Contractual Life	8 years 10 months 24 days	8 years 10 months 24 days
Options exercisable at September 30, 2023, Weighted Average Remaining Contractual Life	7 years 6 months
Outstanding, Aggregate Intrinsic Value, Beginning Balance | $	$ 62
Outstanding, Aggregate Intrinsic Value, Ending Balance | $	6,851	$ 62
Options exercisable at Sepember 30, 2023, Aggregate Intrinsic Value | $	$ 49