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Stock Plan - Schedule of Stock Options Activity (Details)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
USD ($)
$ / shares
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Shares Available For Grant    
Shares Available for Grant, Balance 4,618,292  
Shares Available for Grant, Shares reserved for issuance 1,830,853  
Shares Available for Grant, Options granted (2,022,125)  
Shares Available for Grant, Options forfeited / cancelled 29,984  
Shares Available for Grant, Balance 4,457,004 4,618,292
Number of Options    
Options Outstanding, Number of Options 5,278,771  
Options granted, Number of Options 2,022,125  
Options forfeited / cancelled, Number of Options (29,984)  
Options exercised, Number of Options (96,360)  
Options Outstanding, Number of Options 7,174,552 5,278,771
Vested and expected to vest, Number of Options 7,174,552  
Exercisable, Number of Options 4,055,276  
Weighted Average Exercise Price    
Options Outstanding, Weighted Average Exercise Price | $ / shares $ 10.40  
Options granted, Weighted Average Exercise Price | $ / shares 5.83  
Options forfeited / cancelled, Weighted Average Exercise Price | $ / shares 15.22  
Options exercised, Weighted Average Exercise Price | $ / shares 0.73  
Options Outstanding, Weighted Average Exercise Price | $ / shares 9.22 $ 10.40
Vested and expected to vest, Weighted Average Exercise Price | $ / shares 9.22  
Exercisable, Weighted Average Exercise Price | $ / shares $ 8.33  
Weighted-Average Remaining Contractual Life    
Options Outstanding, Weighted-Average Remaining Contractual Life 7 years 1 month 20 days 6 years 9 months 25 days
Vested and expected to vest, Weighted-Average Remaining Contractual Life 7 years 1 month 20 days  
Exercisable, Weighted-Average Remaining Contractual Life 5 years 8 months 19 days  
Aggregate Intrinsic Value    
Options Outstanding, Aggregate Intrinsic Value | $ $ 9,944 $ 17,244
Vested and expected to vest, Aggregate Intrinsic Value | $ 9,944  
Exercisable, Aggregate Intrinsic Value | $ $ 8,898