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Stock Based Compensation - Summary of Outstanding Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Share-Based Payment Arrangement [Abstract]    
Number of stock options, Beginning balance 2,065  
Number of stock options, Granted 297  
Number of stock options, Exercised (12)  
Number of stock options, Expired/Forfeited (304)  
Number of stock options, Ending balance 2,046 2,065
Number of stock options, Vested and exercisable 1,461  
Number of stock options, Vested and expected to vest 2,046  
Weighted average exercise price, Beginning balance $ 11.78  
Weighted average exercise price, Granted 5.56  
Weighted average exercise price, Exercised 2.3  
Weighted average exercise price, Expired/Forfeited 13.65  
Weighted average exercise price, Ending balance 10.65 $ 11.78
Weighted average exercise price, Vested and exercisable 11.36  
Weighted average exercise price, Vested and expected to vest $ 10.65  
Weighted average remaining contractual term (in years) 6 years 2 months 12 days 6 years 8 months 12 days
Weighted average remaining contractual term (in years), Vested and exercisable 5 years 2 months 12 days  
Intrinsic value of stock options exercised $ 40,000  
Aggregate Intrinsic Value, Ending Balance 281,000 $ 758,000
Aggregate Intrinsic Value, Beginning Balance $ 758,000  
Weighted average remaining contractual term (in years), Vested and expected to vest 6 years 2 months 12 days  
Aggregate intrinsic value vested and exercisable $ 281,000  
Stock options expected to vest aggregate intrinsic value $ 281,000