Stockholders' Equity - Summary 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
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Outstanding Options, Beginning balance | shares	7,345,444
Number of Outstanding Options, Granted | shares	1,984,650
Number of Outstanding Options, Exercised | shares	(191,879)
Number of Outstanding Options, Forfeited or cancelled | shares	(642,634)
Number of Outstanding Options, Ending balance | shares	8,495,581	7,345,444
Number of Outstanding Options, Vested and expected to vest | shares	8,495,581
Number of Outstanding Options, Exercisable | shares	5,413,688
Weighted- Average Exercise Price, Beginning balance | $ / shares	$ 11.67
Weighted- Average Exercise Price, Granted | $ / shares	13.90
Weighted- Average Exercise Price, Exercised | $ / shares	8.65
Weighted- Average Exercise Price, Forfeited or cancelled | $ / shares	13.71
Weighted- Average Exercise Price, Ending balance | $ / shares	12.10	$ 11.67
Weighted- Average Exercise Price, Vested and expected to vest | $ / shares	12.10
Weighted- Average Exercise Price, Exercisable | $ / shares	$ 9.72
Weighted- Average Remaining Contractual Term	7 years 7 months 6 days	8 years 3 months 21 days
Weighted- Average Remaining Contractual Term, Vested and expected to vest	7 years 7 months 6 days
Weighted- Average Remaining Contractual Term, Exercisable	7 years 1 month 2 days
Aggregate Intrinsic Value | $	$ 15,076	$ 29,806
Aggregate Intrinsic Value, Vested and expected to vest | $	15,076
Aggregate Intrinsic Value, Exercisable | $	$ 14,999