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Stock-Based Incentive Compensation Plans - Schedule of Stock Option Activity (Details)
 9 Months Ended 12 Months Ended
Sep. 30, 2023
$ / shares
shares
Dec. 31, 2022
$ / shares
shares
Number of Shares    
Beginning balance (in shares) | shares 3,446,583  
Granted (in shares) | shares 695,225  
Exercised (in shares) | shares (494,849)  
Cancelled (in shares) | shares (662,642)  
Ending balance (in shares) | shares 2,984,317 3,446,583
Vested and exercisable (in shares) | shares 1,874,089  
Vested and expected to vest (in shares) | shares 2,984,317  
Weighted-Average Exercise Price    
Beginning balance (in dollars per share) | $ / shares $ 3.61  
Granted (in dollars per share) | $ / shares 3.85  
Exercised (in dollars per share) | $ / shares 0.03  
Cancelled (in dollars per share) | $ / shares 5.00  
Ending balance (in dollars per share) | $ / shares 3.95 $ 3.61
Vested and exercisable (in dollars per share) | $ / shares 3.38  
Vested and expected to vest (in dollars per share) | $ / shares $ 3.95  
Weighted Average Remaining Contractual Term (in Years)    
Balance 6 years 8 months 12 days 8 years 21 days
Vested and exercisable 5 years 5 months 12 days  
Vested and expected to vest 6 years 8 months 12 days