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Stock-Based Compensation - Schedule of table summarizes stock option activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2024
USD ($)
$ / shares
shares
Dec. 31, 2023
$ / shares
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, Outstanding | shares 4,872,527  
Number of shares, Outstanding, Granted | shares 2,355,844  
Number of shares, Outstanding, Exercised | shares (788,899)  
Number of shares, Outstanding, Forfeited | shares (253,054)  
Number of shares, Outstanding, Expired | shares (130,413)  
Number of shares, Outstanding | shares 6,056,005  
Number of shares, Exercisable | shares 2,553,916  
Number of shares, Vested and expected to vest | shares 6,056,005  
Weighted average exercise price per share, Outstanding | $ / shares $ 3.64  
Weighted average exercise price per share, Granted | $ / shares 1.58  
Weighted average exercise price per share, Exercised | $ / shares 0.34  
Weighted average exercise price per share, Forfeited | $ / shares 5.97  
Weighted average exercise price per share, Expired | $ / shares 3.37  
Weighted average exercise price per share, Outstanding | $ / shares 3.17 $ 3.64
Weighted average exercise price per share, Exercisable | $ / shares 2.47  
Weighted average exercise price per share, Vested and expected to vest | $ / shares $ 3.17  
Weighted average remaining contractual term (years), Outstanding at ending 7 years 7 months 28 days 6 years 1 month 6 days
Weighted average remaining contractual term (years), Exercisable 5 years 2 months 23 days  
Weighted average remaining contractual term (years), Vested and expected to vest 7 years 7 months 28 days  
Aggregate intrinsic value, Outstanding | $ $ 2,090  
Aggregate intrinsic value, Exercisable | $ $ 1,759