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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
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Number of Shares, Options outstanding Beginning balance 12,924,086  
Number of Shares Granted 5,113,352  
Number of Shares Exercised (246,848)  
Number of Shares Cancelled (695,585)  
Number of Shares, Options outstanding Ending balance 17,095,005 12,924,086
Number of Shares Options exercisable 7,372,207  
Weighted Average Exercise Price, Options outstanding Beginning balance $ 6.50  
Weighted Average Exercise Price Granted 5.19  
Weighted Average Exercise Price Exercised 2.26  
Weighted Average Exercise Price Cancelled 8.01  
Weighted Average Exercise Price, Options outstanding Ending balance 6.12 $ 6.50
Weighted Average Exercise Price Options exercisable $ 5.65  
Weighted Average Contractual Term, Options outstanding 7 years 9 months 29 days 8 years 1 month 17 days
Weighted Average Contractual Term Options exercisable 7 years 1 month 20 days  
Aggregate Intrinsic Value, Options outstanding $ 87,902,516 $ 24,267,448
Aggregate Intrinsic Value Options exercisable $ 41,520,355