Stock-Based Compensation - Stock option activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended		12 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Shares Available for Grant
Available and Outstanding as of beginning of year	3,538,268
2022 Plan annual increase	1,917,456
Granted	(2,170,299)
Forfeited	1,286,494
Available and Outstanding as of ending of year	4,571,919		3,538,268
Number of Shares Outstanding
Available and Outstanding as of beginning of year	10,081,915
Granted	2,170,299
Exercised	(451,020)
Forfeited	(1,286,494)
Available and Outstanding as of ending of year	10,514,700		10,081,915
Vested and exercisable	5,819,297
Weighted Average Exercise Price
Available and Outstanding as of beginning of year	$ 3.11
Granted	1.01
Exercised	0.58
Forfeited	4.37
Available and Outstanding as of ending of year	2.63		$ 3.11
Vested and exercisable as of ending of year	$ 2.39
Weighted Average Remaining Contractual Life (Years)
Outstanding as of ending of year	7 years 5 months 23 days		7 years 7 months 9 days
Vested and exercisable as of ending of year	6 years 3 months 25 days
Aggregate Intrinsic Value
Aggregate Intrinsic Value, outstanding	$ 466		$ 4,098
Vested and exercisable	$ 122
Weighted average grant date fair value of options granted	$ 0.55
Share based payment award shares options exercise	451,020	374,432
Fair value of the shares subject to stock options vested	$ 2,400	$ 1,400
Unamortized stock-based compensation expense	$ 6,400
Vesting term (in years)	1 year 10 months 13 days