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Stock-based Compensation - Summary of Stock Option Activity with in 2014 Stock Incentive Plan and 2019 Incentive Award Plan (Details) - 2014 and 2019 Plan - 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, Beginning balance | 5,742,053 |
Number of shares, Granted | 27,350 |
Number of shares, Exercised | (2,969) |
Number of shares, Forfeited | (1,103,713) |
Number of shares, Ending balance | 4,662,721 | 5,742,053
Number of shares, Options exercisable as of September 30, 2023 | 4,324,933 |
Number of shares, Options unvested as of September 30, 2023 | 337,788 |
Weighted average exercise price, Beginning balance | $ 2.35 |
Weighted average exercise price, Granted | 4.66 |
Weighted average exercise price, Exercised | 0.07 |
Weighted average exercise price, Forfeited | 2.45 |
Weighted average exercise price, Ending balance | 2.34 | $ 2.35
Weighted average exercise price, Options exercisable as of September 30, 2023 | 2.35 |
Weighted average exercise price, Options unvested as of September 30, 2023 | $ 2.23 |
Weighted average remaining contractual term (in years), Outstanding | 6 years 2 months 12 days | 6 years 8 months 8 days
Weighted average remaining contractual term (in years), Granted | 4 years 7 months 28 days |
Weighted average remaining contractual term (in years), Options exercisable as of September 30, 2023 | 5 years 11 months 1 day |
Weighted average remaining contractual term (in years), Options unvested as of September 30, 2023 | 7 years 3 months 10 days |
Aggregate intrinsic value, Outstanding as of December 31, 2022 | $ 9,114 |
Aggregate intrinsic value, Exercised | 1 |
Aggregate intrinsic value, Outstanding as of September 30, 2023 | 3 | $ 9,114
Aggregate intrinsic value, Options exercisable as of September 30, 2023 | $ 3 |

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