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Share-Based Compensation - Summary of Stock Option 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
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock Options, Outstanding - January 1, 2023 | shares 2,541,000  
Stock Options, Granted | shares 427,000  
Stock Options, Forfeited/canceled | shares (313,000)  
Stock Options, Exercised | shares (122,000)  
Stock Options, Cancelled under the Option Exchange | shares (589,000)  
Stock Options, Granted under the Option Exchange | shares 123,000  
Stock Options, Outstanding - September 30, 2023 | shares 2,067,000 2,541,000
Stock Options Exercisable - September 30, 2023 | shares 1,256,000  
Weighted Average Exercise Price, Outstanding - January 1, 2023 | $ / shares $ 8.4  
Weighted Average Exercise Price, Granted | $ / shares 1.85  
Weighted Average Exercise Price, Forfeited/canceled | $ / shares 8.88  
Weighted Average Exercise Price, Exercised | $ / shares 0.74  
Weighted Average Exercise Price, Cancelled under the Option Exchange | $ / shares 20.43  
Weighted Average Exercise Price, Granted under the Option Exchange | $ / shares 1.2  
Weighted Average Exercise Price, Outstanding - September 30, 2023 | $ / shares 3.57 $ 8.4
Weighted Average Exercise Price, Exercisable - September 30, 2023 | $ / shares $ 4.36  
Weighted Average Contractual Life (Years), Outstanding 7 years 2 months 12 days 7 years 4 months 24 days
Weighted Average Contractual Life (Years), Exercisable - September 30, 2023 6 years 1 month 6 days  
Aggregate Intrinsic Value, Outstanding - January 1, 2023 | $ $ 1,489  
Aggregate Intrinsic Value, Outstanding - September 30, 2023 | $ 772 $ 1,489
Aggregate Intrinsic Value, Exercisable - September 30, 2023 | $ $ 600  
Bonus-To-Options Program    
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]    
Stock Options, Outstanding - January 1, 2023 | shares 526,000  
Stock Options, Granted | shares 876  
Stock Options, Forfeited/canceled | shares (72,000)  
Stock Options, Cancelled under the Option Exchange | shares (169,000)  
Stock Options, Granted under the Option Exchange | shares 34,000  
Stock Options, Outstanding - September 30, 2023 | shares 1,195,000 526,000
Stock Options Exercisable - September 30, 2023 | shares 1,161,000  
Weighted Average Exercise Price, Outstanding - January 1, 2023 | $ / shares $ 10.69  
Weighted Average Exercise Price, Granted | $ / shares 2  
Weighted Average Exercise Price, Forfeited/canceled | $ / shares 8.88  
Weighted Average Exercise Price, Cancelled under the Option Exchange | $ / shares 20.67  
Weighted Average Exercise Price, Granted under the Option Exchange | $ / shares 1.2  
Weighted Average Exercise Price, Outstanding - September 30, 2023 | $ / shares 2.75 $ 10.69
Weighted Average Exercise Price, Exercisable - September 30, 2023 | $ / shares $ 2.76  
Weighted Average Contractual Life (Years), Outstanding 8 years 8 months 12 days 7 years 7 months 6 days
Weighted Average Contractual Life (Years), Exercisable - September 30, 2023 8 years 7 months 6 days  
Aggregate Intrinsic Value, Outstanding - January 1, 2023 | $ $ 2  
Aggregate Intrinsic Value, Outstanding - September 30, 2023 | $ $ 15 $ 2