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Stock Based Compensation Plan - Summary of Stock Option Activity for Company's Stock Option Plans (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of Options Outstanding Beginning Balance 3,896  
Number of Options Granted 1,805  
Number of Options Exercised (6)  
Number of Options Forfeited (646)  
Number of Options Expired (297)  
Number of Options Outstanding Ending Balance 4,752 3,896
Number of Options outstanding and Exercisable 2,213  
Weighted Average Exercise Price Outstanding, Beginning Balance $ 2.43  
Weighted Average Exercise Price Granted 0.86  
Weighted Average Exercise Price Exercised 0.56  
Weighted Average Exercise Price Forfeited 2.4  
Weighted Average Exercise Price Expired 2.2  
Weighted Average Exercise Price Outstanding, Ending Balance 1.85 $ 2.43
Weighted Average Exercise Price Options Outstanding and Exercisable $ 1.93  
Weighted Average Remaining Contractual Life (In Years) 8 years 1 month 20 days 8 years 5 months 8 days
Weighted Average Remaining Contractual Life, Exercisable (In Years) 7 years 3 months 29 days  
Aggregate Intrinsic Value $ 0  
Aggregate Intrinsic Value Options outstanding and exercisable $ 0