Stock-based Compensation - Schedule of Stock Option 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
Number of Stock Options
Beginning balance (in shares) | shares	53,849,045
Granted (in shares) | shares	12,276,063
Exercised (in shares) | shares	(1,478,537)
Canceled or forfeited (in shares) | shares	(4,196,756)
Ending balance (in shares) | shares	60,449,815	53,849,045
Exercisable (in shares) | shares	32,422,027
Weighted- Average Exercise Price Per Share
Beginning balance (in dollars per share) | $ / shares	$ 5.09
Granted (in dollars per share) | $ / shares	2.30
Exercised (in dollars per share) | $ / shares	0.10
Cancelled or forfeited (in dollars per share) | $ / shares	5.26
Ending balance (in dollars per share) | $ / shares	4.63	$ 5.09
Exercisable (in dollars per share) | $ / shares	$ 4.90
Weighted- Average Remaining Contractual Life (in years)
Options Outstanding	7 years 6 months 29 days	7 years 10 months 2 days
Options Exercisable	6 years 5 months 19 days
Aggregate Intrinsic Value (in thousands)
Options Outstanding | $	$ 7,517	$ 24,887
Options Exercisable | $	$ 7,517