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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