Stock-Based Compensation - Summary of Stock Options Outstanding, Vested, Expected to Vest and Exercisable (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Stock options outstanding, exercisable and expected to vest
Options outstanding, Number of Shares	2,803,102	2,232,967
Options vested and expected to vest, Number of Shares	2,695,684
Options exercisable, Number of Shares	1,274,102
Options outstanding, Weighted Average Exercise Price	$ 3.60	$ 4.27
Options vested and expected to vest, Weighted Average Exercise Price	3.64
Options exercisable, Weighted Average Exercise Price	$ 4.23
Options outstanding, Weighted Average Remaining Contractual Life (Years)	5 years 1 month 28 days
Options vested and expected to vest, Weighted Average Remaining Contractual Life (Years)	5 years 1 month 9 days
Options exercisable, Weighted Average Remaining Contractual Life (Years)	3 years 9 months 7 days
Options outstanding, Aggregate Intrinsic Value	$ 595
Options vested and expected to vest, Aggregate Intrinsic Value	558
Options exercisable, Aggregate Intrinsic Value	$ 193