Stock-Based Compensation - Summary of Stock Option Activity and Related Information (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Equity [Abstract]
Number of Options, Beginning Balance	12,190,970
Number of Options, Granted	2,083,600
Number of Options, Cancelled	(2,558,526)
Number of Options, Exercised	(28,778)
Number of Options, Ending Balance	11,687,266	12,190,970
Number of Options, Exercisable	7,175,960
Number of Options, Options Vested and Expected to Vest	11,687,266
Weighted Average Exercise Price Per Share, Beginning Balance	$ 3.98
Weighted Average Exercise Price Per Share, Granted	1.52
Weighted Average Exercise Price Per Share, Cancelled	3.56
Weighted Average Exercise Price Per Share, Exercised	0.03
Weighted Average Exercise Price Per Share, Ending Balance	3.62	$ 3.98
Weighted Average Exercise Price Per Share, Exercisable	3.76
Weighted Average Exercise Price Per Share, Options Vested and Expected to Vest	$ 3.62
Weighted Average Remaining Contractual Term (in Years), Balance	6 years 10 months 24 days	7 years 4 months 9 days
Weighted Average Remaining Contractual Term (in Years), Exercisable	5 years 7 months 6 days
Weighted Average Remaining Contractual Term (in Years), Options vested and expected to vest	6 years 10 months 24 days
Aggregate Intrinsic Value, Balance	$ 112
Aggregate Intrinsic Value, Exercisable	112
Aggregate Intrinsic Value, Options vested and expected to vest	$ 112