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Income Taxes - Summary of Difference Between Provision for Income Taxes and Amounts Computed by Applying Statutory Federal Income Tax Rate to Income Before Income Taxes (Details) - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Taxes [Line Items] |  |  |  |  |  |  |
Tax provision derived by applying the federal statutory rate to income before income taxes |  |  |  |  | $ (17,630) | $ (13,789) | $ (16,988)
Permanent differences and other |  |  |  |  | 1,042 | 1,002 | 482
Effect of tax rate on foreign jurisdiction |  |  |  |  | 42 | (5) | 0
Change in the valuation allowance |  |  |  |  | 20,609 | 16,900 | 20,662
Income tax (benefit) expense | $ 3 | $ (209) | $ (26) | $ (174) | (136) | 141 | 0
Federal Tax Credits |  |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |  |
Tax credits |  |  |  |  | (3,559) | (3,815) | (3,905)
State Tax Credits |  |  |  |  |  |  |
Income Taxes [Line Items] |  |  |  |  |  |  |
Tax credits |  |  |  |  | $ (640) | $ (152) | $ (251)

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