Stock-Based Compensation - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands	1 Months Ended		3 Months Ended				9 Months Ended
	Aug. 31, 2021	Apr. 30, 2021	Sep. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Mar. 31, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 3,273		$ 3,272		$ 10,229	$ 10,618
Unrecognized Compensation Expense Period							1 year 3 months 18 days
Common stock, authorized			500,000,000				500,000,000		500,000,000
Number of Options, Granted			229,000		0		3,299,000	175,000
Outstanding Options
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 431		$ 159		$ 1,231	$ 387
Vesting of RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			2,698		$ 2,855		8,690	9,380
Unrecognized compensation expense			$ 20,052				20,052
Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock purchased by ESPP			138,000	176,000	133,000	75,000
General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 1,964		$ 2,172		6,108	$ 6,575
Zenith
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Options, Granted					844,000			844,000
Zenith | General and Administrative Expense
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			0		$ 205		109	$ 607
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense			$ 5,082				$ 5,082
Unrecognized Compensation Expense Period							7 years 3 months 18 days
2018 Stock Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation by share based arrangement term							10 years
Share based compensation arrangement vesting period							4 years
Amended 2018 Stock Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period		4 years
Share-based compensation arrangement, options granted		1,533,000
Share-based compensation arrangement by share-based payment award, equity instruments other than options, grants in period, weighted average grant date fair value		$ 21.55
Share-based payment arrangement, expense		$ 33,033
2021 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Common stock, authorized			15,500,000				15,500,000
2021 Equity Incentive Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period	4 years
Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share-based payment arrangement, expense			$ 144		$ 53		$ 199	$ 244
Shares reserved for future issuance			2,000,000				2,000,000
Percentage of shares reserved for future issuance							1.00%
Shares available for sale under ESPP			5,402		3,731		5,402	3,731
Employee Stock Purchase Plan | Common Stock
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of common stock purchased by ESPP			138		133		314	208
Common stock, additional shares authorized			0		0		1,985	1,939
Minimum | 2021 Equity Incentive Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period	1 year
Maximum | 2021 Equity Incentive Plan | RSUs
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Share based compensation arrangement vesting period	3 years
Maximum | Employee Stock Purchase Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Shares reserved for future issuance										2,000,000