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Stock-Based Compensation - Summary of Equity Award Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Shares available for grant    
Beginning balance (in shares) 1,836,566  
Shares authorized (in shares)   9,102,074
Granted (in shares) 0  
Exercised (in shares) 0  
Cancelled (in shares) 428,189  
Ending balance (in shares) 7,391,635 1,836,566
Outstanding Stock Options    
Beginning balance (in shares) 12,371,281  
Options granted (in shares) 0  
Exercised (in shares) (1,844,602)  
Cancelled (in shares) (428,189)  
Ending balance (in shares) 10,098,490 12,371,281
Vested and exercisable (in shares) 8,075,929  
Weighted-average exercise Price    
Beginning balance (USD per share) | $ / shares $ 5.74  
Granted (USD per share) | $ / shares 0  
Exercised (USD per share) | $ / shares 1.79  
Cancelled (USD per share) | $ / shares 11.31  
Ending balance (USD per share) | $ / shares 6.22 $ 5.74
Vested and exercisable (USD per share) | $ / shares $ 4.89  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]    
Options outstanding, Weighted-average remaining contractual life (years) 5 years 8 months 26 days 6 years 25 days
Vested and exercisable, Weighted-average remaining contractual life (years) 5 years 3 months 7 days  
Options outstanding, Aggregate intrinsic value | $ $ 18,855 $ 32,385
Vested and exercisable, Aggregate intrinsic value | $ $ 17,967  
Restricted stock units outstanding    
Shares available for grant    
RSU award activity (in shares) (3,975,194)