Stockholders' Equity - Schedule of Unrecognized Compensation Expense and Weighted-Average Requisite Period (Details) $ in Thousands	9 Months Ended
	Sep. 30, 2023 USD ($)
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Remaining Weighted-Average Recognition Period	5 years 8 months 8 days
Stock options
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Expense	$ 1,208
Remaining Weighted-Average Recognition Period	1 year 9 months 25 days
RSAs and RSUs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Unrecognized Expense	$ 8,187
Remaining Weighted-Average Recognition Period	1 year 11 months 8 days