Stock-Based Compensation - Summary of Stock Option Activity (Details) - $ / shares	9 Months Ended
	Sep. 30, 2023
Number of Shares
Beginning balance (in shares)	4,214,617
Granted (in shares)	1,644,070
Exercised (in shares)	(223,044)
Forfeited (in shares)	(1,142,470)
Ending balance (in shares)	4,493,173
Exercisable at end of period (in shares)	1,126,578
Weighted Average Exercise Price
Beginning balance (in dollars per share)	$ 16.48
Granted (in dollars per share)	17.17
Exercised (in dollars per share)	10.70
Forfeited (in dollars per share)	21.11
Ending balance (in dollars per share)	15.84
Exercisable, ending balance (in dollars per share)	$ 21.05