Convertible Preferred Stock and Stockholders’ Equity (Deficit) - Common Stock Reserved (Details) - shares	Sep. 30, 2023	Dec. 31, 2022
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	10,864,178	41,016,508
Conversion of preferred stock
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	0	35,543,204
Common stock options outstanding
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	4,257,580	4,674,131
Shares available for issuance under the Plans
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	6,006,598	799,173
Shares available for purchase under the ESPP
Class of Stock [Line Items]
Common stock reserved for future issuance (in shares)	600,000	0