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Stock-Based Awards - Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Options, Number of Shares    
Number of Shares, beginning balance 5,167,164  
Number of Shares, Granted 2,218,550  
Number of Shares, Exercised (34,269)  
Number of Shares, Forfeited and cancelled (228,990)  
Number of Shares, ending balance 7,122,455 5,167,164
Number of Shares, Options vested and expected to vest 7,122,455  
Number of Shares, Options exercisable 3,190,762  
Options, Weighted Average Exercise Price    
Weighted Average Exercise Price, beginning balance (in dollars per share) $ 16.04  
Weighted Average Exercise Price, Granted (in dollars per share) 15.71  
Weighted Average Exercise Price, Exercised (in dollars per share) 1.30  
Weighted Average Exercise Price, Forfeited and cancelled (in dollars per share) 15.71  
Weighted Average Exercise Price, ending balance (in dollars per share) 16.02 $ 16.04
Weighted Average Exercise Price, Options vested and expected to vest (in dollars per share) 16.02  
Weighted Average Exercise Price, Options exercisable (in dollars per share) $ 16.70  
Options, Weighted Average Remaining Contractual Term    
Weighted Average Remaining Contractual Term (in years) 7 years 1 month 6 days 7 years 2 months 12 days
Weighted Average Remaining Contractual Term, Options vested and expected to vest (in years) 7 years 1 month 6 days  
Weighted Average Remaining Contractual Term, Options exercisable (in years) 4 years 8 months 12 days  
Aggregate Intrinsic Value    
Aggregate Intrinsic Value $ 3,680 $ 15,288
Aggregate Intrinsic Value, Exercised 319  
Aggregate Intrinsic Value, Options vested and expected to vest 3,680  
Aggregate Intrinsic Value, Options exercisable $ 3,323  
Weighted average grant-date fair value of stock options granted (in dollars per share) $ 11.04