Stock-Based Compensation - Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended	9 Months Ended	12 Months Ended
May 31, 2021	Sep. 30, 2023	Dec. 31, 2022
Number of Options
Number of options, options exercised (in shares)	(293,594)
2018 Plan
Number of Options
Number of options, beginning balance (in shares)		17,569,575
Number of options, options granted (in shares)		9,300,276
Number of options, options exercised (in shares)		(782,538)
Number of options, options forfeited (in shares)		(4,097,851)
Number of options, ending balance (in shares)		21,989,462	17,569,575
Number of options, exercisable (in shares)		13,651,398
Number of options, vested and expected to vest (in shares)		21,989,462
Weighted- Average Exercise Price
Weighted-average exercise price, beginning balance (in dollars per share)		$ 12.90
Weighted-average exercise price, options granted (in dollars per share)		5.13
Weighted-average exercise price, options exercised (in dollars per share)		2.47
Weighted-average exercise price, options forfeited (in dollars per share)		10.85
Weighted-average exercise price, ending balance (in dollars per share)		10.37	$ 12.90
Weighted-average exercise price, exercisable (in dollars per share)		12.33
Weighted-average exercise price, vested and expected to vest (in dollars per share)		$ 10.37
Weighted-average remaining contract term, outstanding (in years)		7 years 7 months 9 days	7 years 8 months 23 days
Weighted-average remaining contract term, exercisable (in years)		6 years 11 months 12 days
Weighted-average remaining contract term, vested and expected to vest (in years)		7 years 7 months 9 days
Aggregate intrinsic value, balance		$ 673	$ 6,658
Aggregate intrinsic value, exercised		2,283
Aggregate intrinsic value, exercisable		673
Aggregate intrinsic value, vested and expected to vest		$ 0

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:sharesItemType
Balance Type:	na
Period Type:	instant

- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.