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Stock-Based Compensation - Summary of Stock Option Activities (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Share-Based Payment Arrangement [Abstract]    
Number of options outstanding, beginning of period | shares 5,988,271  
Number of options granted | shares 50,000  
Number of options, cancelled and forfeited | shares (258,415)  
Number of options exercised | shares (889,404)  
Number of options outstanding, ending of period | shares 4,890,452 5,988,271
Number of options, vested and expected to vest | shares 4,890,452  
Number of options exercisable, end of period | shares 4,013,104  
Weighted average exercise price outstanding, beginning of period | $ / shares $ 4.70  
Weighted average exercise price, options granted | $ / shares 3  
Weighted average exercise price, options cancelled and forfeited | $ / shares 8.12  
Weighted average exercise price, options exercised | $ / shares 0.62  
Weighted average exercise price outstanding, end of period | $ / shares 5.25 $ 4.70
Weighted average exercise price, options vested and expected to vest | $ / shares 5.25  
Weighted average exercise price, options exercisable | $ / shares $ 5.25  
Weighted average remaining contracted terms (in years) outstanding   8 years 9 months 29 days
Weighted average remaining contracted terms (in years) outstanding, end of period 3 years 21 days  
Weighted average remaining contracted terms (in years), vested and expected to vest 3 years 21 days  
Weighted average remaining contracted terms (in years), exercisable at end of period 1 year 10 months 6 days  
Aggregate intrinsic value outstanding, beginning of period | $ $ 5,699  
Aggregate intrinsic value options exercised | $ 1,987  
Aggregate intrinsic value outstanding, end of period | $ 1,316 $ 5,699
Aggregate intrinsic value options vested and expected to vest | $ 1,316  
Aggregate intrinsic value options exercisable | $ $ 1,078