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Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Shares      
Shares, Outstanding, Beginning Balance (in shares) 10,098,929    
Shares, Granted (in shares) 3,267,727    
Shares, Exercised (in shares) (26,146)    
Shares, Forfeited or expired (in shares) (293,161)    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Expirations in Period (367,054)    
Shares, Outstanding, Ending Balance (in shares) 12,680,295   10,098,929
Shares, Exercisable (in shares) 7,836,655    
Shares, Vested and expected to vest (in shares) 11,733,021    
Weighted- Average Exercise Price      
Weighted- Average Exercise Price, Outstanding, Beginning Balance (in dollars per share) $ 18.58    
Weighted- Average Exercise Price, Granted (in dollars per share) 4.91    
Weighted- Average Exercise Price, Exercised (in dollars per share) 3.34    
Weighted- Average Exercise Price, Forfeited (in dollars per share) 9.78    
Weighted- Average Exercise Price, Expired (in dollars per share) 19.77    
Weighted- Average Exercise Price, Outstanding, Ending Balance (in dollars per share) 15.26   $ 18.58
Weighted- Average Exercise Price, Exercisable (in dollars per share) 19.50    
Weighted- Average Exercise Price, Vested and expected to vest (in dollars per share) $ 15.75    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Additional Disclosures [Abstract]      
Weighted- Average Remaining Contractual Term, Outstanding (in years) 6 years 8 months 12 days   6 years 6 months
Weighted- Average Remaining Contractual Term, Exercisable (in years) 5 years 4 months 24 days    
Weighted- Average Remaining Contractual Term, Vested and expected to vest (in years) 6 years 6 months    
Aggregate Intrinsic Value, Outstanding, Ending Balance $ 301    
Aggregate Intrinsic Value, Exercisable 186    
Aggregate Intrinsic Value, Vested and expected to vest $ 278    
Weighted-average grant-date fair value of options granted (in dollars per share) $ 3.78 $ 6.89  
Intrinsic value of options exercised $ 100 $ 500  
Fair value of shares vested 13,600 $ 15,100  
Unrecognized compensation expense related to non-vested stock-options, net of related forfeiture estimates $ 22,600    
Unrecognized compensation expense recognition period (in years) 1 year 3 months 18 days