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Stockholder's Equity - Summary of Stock Option Activity (Details) - 2021 Plan
$ / 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 Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of Options, Outstanding | shares 6,589,479  
Number of Options, Granted | shares 1,597,224  
Number of Options, Exercised | shares (34,027)  
Number of Options, Cancelled or forfeited | shares (735,320)  
Number of Options, Outstanding | shares 7,417,356 6,589,479
Number of Options, Vested or expected to vest | shares 7,417,356  
Number of Options, Options exercisable | shares 3,920,894  
Weighted- Average Exercise Price, Outstanding | $ / shares $ 7.29  
Weighted- Average Exercise Price, Granted | $ / shares 3.02  
Weighted- Average Exercise Price, Exercised | $ / shares 4.01  
Weighted- Average Exercise Price, Cancelled or forfeited | $ / shares 6.44  
Weighted- Average Exercise Price, Outstanding | $ / shares 6.47 $ 7.29
Weighted- Average Exercise Price, Vested or expected to vest | $ / shares 6.47  
Weighted- Average Exercise Price, Options exercisable | $ / shares $ 6.58  
Weighted- Average Remaining Contractual Term, Outstanding 7 years 1 month 17 days 7 years 8 months 23 days
Weighted- Average Remaining Contractual Term, Vested or expected to vest 7 years 1 month 17 days  
Weighted- Average Remaining Contractual Term, Option exercisable 6 years 2 months 19 days  
Aggregate Intrinsic Value, Outstanding | $ $ 4,062 $ 362
Aggregate Intrinsic Value, Vested or expected to vest | $ 4,062  
Aggregate Intrinsic Value, Options exercisable as of June 30, 2023 | $ $ 1,733