Stock-Based Compensation - Schedule of Stock Options Activities (Details) - $ / shares	9 Months Ended	12 Months Ended
	Sep. 30, 2024	Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Outstanding beginning balance	7,770,421
Options, Granted	0
Options, Exercised	(769,263)
Options, Cancelled or forfeited	(199,395)
Options, Outstanding ending balance	6,801,763	7,770,421
Options, Exercisable	5,863,333
Options, Vested and expected to vest	6,045,907
Weighted Average Exercise Price, Outstanding beginning balance	$ 1.11
Weighted Average Exercise Price, Granted	0
Weighted Average Exercise Price, Exercised	0.11
Weighted Average Exercise Price, Cancelled or forfeited	4.36
Weighted Average Exercise Price, Outstanding ending balance	1.12	$ 1.11
Weighted Average Exercise Price, Exercisable	1.03
Weighted Average Exercise Price, Vested and expected to vest	$ 1.21
Weighted Average Remaining Contractual Term	5 years 14 days	5 years 9 months 3 days
Weighted Average Remaining Contractual Term, Exercisable	4 years 11 months 19 days
Weighted Average Remaining Contractual Term, Vested and expected to vest	5 years
Employee Stock Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Outstanding beginning balance	3,313,080
Options, Granted	1,177,000
Options, Exercised	(362,541)
Options, Cancelled or forfeited	(291,233)
Options, Outstanding ending balance	3,836,306	3,313,080
Options, Exercisable	1,812,990
Options, Vested and expected to vest	3,836,306
Weighted Average Exercise Price, Outstanding beginning balance	$ 9.27
Weighted Average Exercise Price, Granted	9.01
Weighted Average Exercise Price, Exercised	9.76
Weighted Average Exercise Price, Cancelled or forfeited	8.66
Weighted Average Exercise Price, Outstanding ending balance	9.19	$ 9.27
Weighted Average Exercise Price, Exercisable	9.04
Weighted Average Exercise Price, Vested and expected to vest	$ 9.19
Weighted Average Remaining Contractual Term	8 years 1 month 20 days	8 years 3 months 14 days
Weighted Average Remaining Contractual Term, Exercisable	7 years 6 months
Weighted Average Remaining Contractual Term, Vested and expected to vest	8 years 1 month 20 days
2020 Incentive Award Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Granted	10,800,000
2020 Incentive Award Plan [Member] | Employee Stock Option
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Options, Outstanding ending balance	3,836,306