Stock-Based Compensation - Summary of Stock Option Activity (Details) - USD ($) $ / shares in Units, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Share-Based Payment Arrangement, Noncash Expense [Abstract]
Number of Shares Underlying Outstanding Options, Beginning balance	6,203,020
Number of Shares Underlying Outstanding Options, Options granted	4,167,242
Number of Shares Underlying Outstanding Options, Options exercised	(946)
Number of Shares Underlying Outstanding Options, Options forfeited or cancelled	(619,818)
Number of Shares Underlying Outstanding Options, Ending balance	9,749,498	6,203,020
Number of Shares Underlying Outstanding Options exercisable	3,602,027
Number of Shares Underlying Outstanding Options, Vested and expected to vest	9,749,498
Weighted-Average Exercise Price, Outstanding beginning	$ 14.44
Weighted-Average Exercise Price, Options granted	5.48
Weighted-Average Exercise Price, Options exercised	4.76
Weighted-Average Exercise Price, Options forfeited or cancelled	12.35
Weighted-Average Exercise Price, Outstanding ending	10.74	$ 14.44
Weighted-Average Exercise Price, Options exercisable	13.87
Weighted-Average Exercise Price, Vested and expected to vest	$ 10.74
Weighted-Average Remaining Contract Term, Outstanding	8 years 4 months 24 days	8 years 4 months 24 days
Weighted-Average Remaining Contract Term, Options exercisable	7 years 7 months 6 days
Weighted-Average Remaining Contract Term, Vested and expected to vest	8 years 4 months 24 days
Aggregate Intrinsic Value, Outstanding	$ 0	$ 780
Aggregate Intrinsic Value, Options exercisable	0
Aggregate Intrinsic Value, Vested and expected to vest	$ 0