Stock-Based Compensation - Schedule of Assumptions to Estimate Fair Value of Stock Options Using Black-Scholes Option Pricing Model (Details) - $ / shares	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Expected volatility, minimum	84.70%	79.50%	83.30%	77.40%
Expected volatility, maximum	87.30%	80.70%	87.30%	80.70%
Risk free rates, minimum	4.10%	2.70%	3.50%	1.60%
Risk free rates, maximum	4.60%	4.00%	4.60%	4.00%
Dividend rate	0.00%	0.00%	0.00%	0.00%
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock	$ 1.37	$ 14.16	$ 1.37	$ 11.49
Expected term	5 years 6 months	6 years	5 years 6 months	5 years 6 months
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Fair value of common stock	$ 3.38	$ 16.89	$ 9.15	$ 19.97
Expected term	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days	6 years 1 month 6 days