v3.23.3
Stockholders’ Equity and Stock-Based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Shares of Stock under Stock Options    
Beginning balance (in shares) 2,402  
Granted (in shares) 1,427  
Exercised (in shares) (4)  
Canceled (in shares) (298)  
Ending balance (in shares) 3,527 2,402
Vested and exercisable (in shares) 1,308  
Weighted- Average Exercise Price    
Beginning balance (in dollars per share) $ 32.80  
Granted (in dollars per share) 12.23  
Exercised (in dollars per share) 5.49  
Canceled (in dollars per share) 28.85  
Ending balance (in dollars per share) 24.86 $ 32.80
Vested and exercisable (in dollars per share) $ 31.94  
Weighted- Average Remaining Contractual Term    
Outstanding (in years) 8 years 6 months 7 days 8 years 6 months
Vested and exercisable (in years) 7 years 9 months  
Aggregate Intrinsic Value    
Beginning balance $ 2,068  
Exercised 25  
Ending balance 6 $ 2,068
Vested and exercisable $ 0