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Equity Incentive Plans and Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Equity [Abstract]    
Number of Outstanding Options, Beginning balance 5,890,869  
Number of Outstanding Options, Granted 2,883,689  
Number of Outstanding Options, Exercised (364,547)  
Cancelled (299,441)  
Number of Outstanding Options, Ending balance 8,110,570 5,890,869
Number of Outstanding Options, Exercisable 2,721,726  
Number of Outstanding Options, Vested and expected to vest 8,110,570  
Weighted- Average Exercise Price, Beginning balance $ 7.91  
Weighted- Average Exercise Price, Granted 13.32  
Weighted- Average Exercise Price, Exercised 2.25  
Weighted- Average Exercise Price, Cancelled 10.29  
Weighted- Average Exercise Price, Ending balance 10 $ 7.91
Weighted- Average Exercise Price, Exercisable 8.07  
Weighted- Average Exercise Price, Vested and expected to vest $ 10  
Weighted- Average Remaining Contractual Term 8 years 6 months 8 years 9 months 18 days
Weighted- Average Remaining Contractual Term, Exercisable 7 years 7 months 6 days  
Weighted- Average Remaining Contractual Term, Vested and expected to vest 8 years 6 months  
Aggregate Intrinsic Value, Beginning balance $ 13,492  
Aggregate Intrinsic Value, Exercised 19,786  
Aggregate Intrinsic Value, Ending balance 39,978 $ 13,492
Aggregate Intrinsic Value, Vested and expected to vest $ 39,978