Convertible Preferred Stock and Stockholders’ Equity (Deficit) - 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 Outstanding Options
Beginning balance (in shares) | shares	4,674,131
Granted (in shares) | shares	879,628
Exercised (in shares) | shares	(1,209,126)
Cancelled (in shares) | shares	(87,053)
Ending balance (in shares) | shares	4,257,580	4,674,131
Options vested and expected to vest, number of options (in shares) | shares	4,257,580
Options exercisable, number of options (in shares) | shares	4,219,723
Weighted- Average Exercise Price
Options outstanding beginning balance, weighted average exercise price per share (in dollars per share) | $ / shares	$ 3.07
Options granted beginning balance, weighted average exercise price per share (in dollars per share) | $ / shares	6.71
Options exercised beginning balance, weighted average exercise price per share (in dollars per share) | $ / shares	3.22
Options cancelled beginning balance, weighted average exercise price per share (in dollars per share) | $ / shares	2.99
Options outstanding ending balance, weighted average exercise price per share (in dollars per share) | $ / shares	3.78	$ 3.07
Options vested and expected to vest, weighted average exercise price per share (in dollars per share) | $ / shares	3.78
Options exercisable, weighted average exercise price per share (in dollars per share) | $ / shares	$ 3.66
Weighted- Average Remaining Contractual Term (in Years)
Options outstanding, weighted average remaining contractual term	8 years 11 months 19 days	9 years 5 months 19 days
Options vested and expected to vest, weighted average remaining contractual term (in years)	8 years 11 months 19 days
Options exercisable, weighted average remaining contractual term (in years)	8 years 11 months 15 days
Aggregate Intrinsic Value [Abstract]
Options outstanding, aggregate intrinsic value | $	$ 78,411	$ 21,702
Options vested and expected to vest, aggregate intrinsic value | $	78,411
Options exercisable, aggregate intrinsic value | $	$ 78,251