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Stock-Based Compensation - Stock option activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Options Outstanding    
Outstanding at beginning of period (in shares) 5,877,745  
Granted (in shares) 548,915  
Exercised (in shares) (149,190)  
Forfeited/Expired (in shares) (181,663)  
Outstanding at end of period (in shares) 6,095,807 5,877,745
Vested (in shares) 2,946,079  
Exercisable (in shares) 3,416,089  
Weighted-Average Exercise Price    
Outstanding at beginning of period (in dollars per share) $ 4.47  
Granted (in dollars per share) 6.88  
Exercised (in dollars per share) 2.15  
Forfeited/Expired (in dollars per share) 5.6  
Outstanding at end of period (in dollars per share) 4.71 $ 4.47
Vested (in dollars per share) 4.94  
Exercisable (in dollars per share) $ 4.52  
Weighted-Average Remaining Contractual Term (in years) / Aggregate Intrinsic Value    
Weighted Average Remaining Contractual Term (in years), Options Outstanding 7 years 9 months 18 days 8 years 2 months 12 days
Weighted Average Remaining Contractual Term (in years), Vested 7 years  
Weighted Average Remaining Contractual Term (in years), Exercisable 6 years 9 months 18 days  
Aggregate Intrinsic Value, Outstanding $ 19,172 $ 907
Aggregate Intrinsic Value, Vested 8,770  
Aggregate Intrinsic Value, Exercisable 10,045  
Unrecognized stock-based compensation expense $ 9,500  
Weighted-average vesting term 2 years 4 months 24 days