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Stock-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 Payment Arrangement [Abstract]    
Number of Shares, Outstanding, beginning of period | shares 3,300,935  
Number of Shares, Granted | shares 236,393  
Number of Shares, Exercised | shares (183,927)  
Number of Shares, Forfeited or canceled | shares (156,436)  
Number of Shares, Outstanding, Ending of period | shares 3,196,965 3,300,935
Number of Shares, Vested and expected to vest, Ending of period | shares 3,196,965  
Number of Shares, Vested and exercisable, Ending of period | shares 1,028,513  
Weighted-Average Exercise Price, Outstanding, beginning of period | $ / shares $ 6.29  
Weighted-Average Exercise Price, Granted | $ / shares 12.11  
Weighted-Average Exercise Price, Exercised | $ / shares 2.49  
Weighted-Average Exercise Price, Fortified or canceled | $ / shares 5.53  
Weighted-Average Exercise Price, Outstanding, ending of period | $ / shares 6.97 $ 6.29
Weighted-Average Exercise Price, Vested and expected to vest, ending of period | $ / shares 6.97  
Weighted-Average Exercise Price, Vested and exercisable, ending of period | $ / shares $ 2.85  
Weighted Average Remaining Contractual Term (in years), Outstanding 8 years 3 months 25 days 9 years 3 months 3 days
Weighted Average Remaining Contractual Term (in years), Vested and expected to vest, ending of period 8 years 3 months 25 days  
Weighted Average Remaining Contractual Term (in years), Vested and exercisable, ending of period 7 years 3 days  
Aggregate Intrinsic Value | $ $ 12,146 $ 18,346
Aggregate Intrinsic Value, Vested and expected to vest, ending of period | $ 12,146  
Aggregate Intrinsic Value, Vested and exercisable, ending of period | $ $ 7,005