Share-based Compensation - Summary of Stock Option Activity (Details)	9 Months Ended	12 Months Ended
	Sep. 30, 2023 $ / shares shares	Dec. 31, 2022 $ / shares shares
Number of Shares
Beginning balance (in shares) | shares	14,688,996
Granted (in shares) | shares	2,973,300
Exercised (in shares) | shares	(44,770)
Forfeited (in shares) | shares	(1,578,307)
Ending balance (in shares) | shares	16,039,219	14,688,996
Exercisable at end of period (in shares) | shares	7,764,651
Vested and expected to vest at end of period (in shares) | shares	16,039,219
Weighted-Average Exercise Price Per Share
Beginning balance (in dollars per share) | $ / shares	$ 7.88
Granted (in dollars per share) | $ / shares	4.18
Exercised (in dollars per share) | $ / shares	4.28
Forfeited (in dollars per share) | $ / shares	8.33
Ending balance (in dollars per share) | $ / shares	7.16	$ 7.88
Exercisable at end of period (in dollars per share) | $ / shares	7.57
Vested and expected to vest at end of period (in dollars per share) | $ / shares	$ 7.16
Weighted-Average Remaining Contractual Term
Options outstanding, weighted-average remaining contractual term	7 years 10 months 24 days	8 years 6 months
Options exercisable, weighted-average remaining contractual term	7 years 3 months 18 days
Options vested and expected to vest at end of period, weighted-average remaining contractual term	7 years 10 months 24 days