Equity Incentive Plans - Summary of Option Activity (Details) - 2020 and 2021 Plan $ / 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]
Number of Options, Beginning Balance | shares	7,755,303
Number of Options, Granted | shares	3,223,400
Options exercised | shares	(65,414)
Number of Options, cancelled | shares	(4,532,774)
Number of Options, Ending Balance | shares	6,380,515	7,755,303
Number of Options, Exercisable | shares	4,231,849
Number of Options, Vested and expected to vest | shares	6,380,515
Weighted Average Exercise Price Per Share, Beginning balance | $ / shares	$ 8.47
Weighted Average Exercise Price Per Share, granted | $ / shares	2.22
Weighted Average Exercise Price Per Share, exercised | $ / shares	0.52
Weighted Average Exercise Price Per Share, cancelled | $ / shares	6.5
Weighted Average Exercise Price Per Share, Ending balance | $ / shares	6.79	$ 8.47
Weighted Average Exercise Price Per Share, exercisable | $ / shares	6.86
Weighted Average Exercise Price Per Share, Vested and expected to vest | $ / shares	$ 6.79
Weighted Average Remaining Contractual Term, Outstanding	5 years 7 months 6 days	8 years 8 months 1 day
Weighted Average Remaining Contractual Term, exercisable	4 years 4 months 24 days
Weighted Average Remaining Contractual Term, Vested and expected to vest	5 years 7 months 6 days
Aggregate Intrinsic Value, Outstanding | $	$ 794
Aggregate Intrinsic Value, Outstanding | $	695	$ 794
Aggregate Intrinsic Value, Exercisable | $	472
Aggregate Intrinsic Value, Vested and expected to vest | $	$ 695