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Share-Based Compensation - Schedule of Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Number of Stock Options    
Outstanding, beginning balance (in shares) 3,999,933  
Granted (in shares) 1,014,718  
Exercised (in shares) (215,943)  
Canceled/Forfeited (in shares) (415,082)  
Outstanding, ending balance (in shares) 4,383,626 3,999,933
Vested and exercisable (in shares) 3,056,564  
Vested and expected to vest (in shares) 4,214,949  
Weighted Average Exercise Price    
Outstanding, beginning balance (in dollars per share) $ 25.58  
Granted (in dollars per share) 17.84  
Exercised (in dollars per share) 0.79  
Canceled/Forfeited (in dollars per share) 36.76  
Outstanding, ending balance (in dollars per share) 23.95 $ 25.58
Vested and exercisable (in dollars per share) 22.82  
Vested and expected to vest (in dollars per share) $ 23.69  
Weighted Average Remaining Contractual Life (Years)    
Outstanding 5 years 7 months 6 days 5 years 3 months 18 days
Vested and exercisable 4 years  
Vested and expected to vest 5 years 4 months 24 days  
Aggregate Intrinsic Value    
Outstanding, beginning balance $ 20,712  
Exercised 3,646  
Outstanding, ending balance 13,670 $ 20,712
Vested and exercisable 13,670  
Vested and expected to vest $ 13,670