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Stock-based Compensation - Restricted Stock and Stock Options (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Restricted Stock Unit Awards    
Shares    
Unvested restricted stock unit awards, beginning of period (in shares) 1,499,070  
Issued (in shares) 1,331,578  
Vested (in shares) (262,588)  
Forfeited (in shares) (462,777)  
Unvested restricted stock unit awards, end of period (in shares) 2,105,283 1,499,070
Weighted Average Grant Date Fair Value Per Share    
Balance, beginning of period (in dollars per share) $ 18.70  
Issued (in dollars per share) 8.71  
Vested (in dollars per share) 19.87  
Forfeited (in dollars per share) 18.86  
Balance, ending of period (in dollars per share) $ 12.20 $ 18.70
Unrecognized stock-based compensation expense $ 13,200  
Period for recognition 2 years 6 months 14 days  
Performance Shares | Share-Based Payment Arrangement, Employee    
Shares    
Issued (in shares) 437,842  
Stock Options    
Weighted Average Grant Date Fair Value Per Share    
Unrecognized stock-based compensation expense $ 28,100  
Period for recognition 2 years 8 months 12 days  
Shares    
Outstanding, beginning of period (in shares) 5,276,148  
Granted (in shares) 2,195,300  
Exercised (in shares) (3,122)  
Cancelled (in shares) (1,467,700)  
Outstanding, end of period (in shares) 6,000,626 5,276,148
Exercisable (in shares) 2,449,032  
Weighted Average Exercise Price    
Outstanding, beginning of period (in dollars per share) $ 23.99  
Granted (in dollars per share) 8.74  
Exercised (in dollars per share) 3.38  
Cancelled (in dollars per share) 30.95  
Outstanding, end of period (in dollars per share) 16.72 $ 23.99
Exercisable (in dollar per share) $ 22.72  
Stock Options Additional Disclosures    
Remaining contractual life (years) 7 years 9 months 29 days 8 years
Exercisable, remaining contractual life 6 years 4 months 2 days  
Aggregate intrinsic value $ 342 $ 402
Exercisable, aggregate intrinsic value $ 279