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Net Loss Per Share Attributable to Common Stockholders - Summary of Computation of Basic and Diluted Net Loss Per Share (Details) - USD ($)
$ / shares in Units, $ in Thousands
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Numerator:                    
Net loss $ (22,485) $ (55,314) $ (23,934) $ (24,682) $ (25,936) $ (25,835) $ (101,733) $ (76,453) $ (101,052) $ (70,760)
Denominator:                    
Weighted-average common shares outstanding 57,977,907     58,189,211     58,064,472 58,085,711 58,111,437 35,121,114
Less: weighted-average unvested restricted shares and shares subject to repurchase (720,666)     (2,983,072)     (1,315,477) (3,494,118) (3,237,762) (6,201,859)
Weighted-average shares used to compute basic net loss per share attributable to common stockholders 57,257,241     55,206,139     56,748,995 54,591,593 54,873,675 28,919,255
Weighted-average shares used to compute diluted net loss per share attributable to common stockholders 57,257,241     55,206,139     56,748,995 54,591,593 54,873,675 28,919,255
Net loss per share attributable to common stockholders-basic $ (0.39)     $ (0.45)     $ (1.79) $ (1.4) $ (1.84) $ (2.45)
Net loss per share attributable to common stockholders-diluted $ (0.39)     $ (0.45)     $ (1.79) $ (1.4) $ (1.84) $ (2.45)