Stock-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
Sep. 30, 2023	Dec. 31, 2022
Stock Options
Outstanding beginning balance (in shares)	1,978,972
Granted (in shares)	0
Exercised (in shares)	0
Forfeited (in shares)	(89,218)
Outstanding ending balance (in shares)	1,889,754	1,978,972
Vested and exercisable (in shares)	1,373,245
Weighted- Average Exercise Price
Outstanding beginning balance (in dollars per share)	$ 12.99
Granted (in dollars per share)	0
Exercised (in dollars per share)	0
Forfeited (in dollars per share)	4.03
Outstanding ending balance (in dollars per share)	13.41	$ 12.99
Vested and exercisable (in dollars per share)	$ 14.18
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]
Weighted- Average Remaining Contractual Life (Years)	7 years 9 months 18 days	8 years 8 months 12 days
Exercisable, Weighted-Average Remaining Contractual Life (Years)	7 years 9 months 18 days
Aggregate Intrinsic Value	$ 0	$ 0
Exercisable, Aggregate Intrinsic Value	$ 0

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Amount by which current fair value of underlying stock exceeds exercise price of fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Number of fully vested and expected to vest exercisable options that may be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest exercisable or convertible options. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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