Equity Incentive Plans - Summary of Options Activity (Details) $ / shares in Units, shares in Thousands, $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) $ / shares shares
Summary of the activity of stock option awards, shares
Options outstanding, Beginning Balance (in Shares) | shares	1,885
Options granted (in shares) | shares	362
Options exercised (in Shares) | shares	(13)
Options forfeited/canceled/expired (in shares) | shares	(130)
Options outstanding, Ending Balance (in Shares) | shares	2,104	1,885
Options vested and expected to vest (in Shares) | shares	2,031
Options exercisable (in Shares) | shares	1,403
Summary of the activity of stock option awards, weighted average exercise price
Options outstanding, Beginning Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	$ 18.03
Options granted, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	9.07
Options exercised, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	6.59
Options forfeited/canceled/expired, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	13.47
Options outstanding, Ending Balance, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	16.85	$ 18.03
Options vested and expected to vest, Wtd. Average Exercise Price (in dollars per share) | $ / shares	17.17
Options exercisable, Wtd. Avg. Exercise Price (in dollars per share) | $ / shares	$ 21.08
Options outstanding, Ending Balance, Wtd. Avg. Remaining Contractual Term	5 years 9 months 7 days	6 years 2 months 23 days
Options vested and expected to vest, Wtd. Avg Remaining Contractual Term	5 years 7 months 28 days
Options exercisable, Wtd. Avg. Remaining Contractual Term	4 years 5 months 1 day
Options outstanding, Ending Balance, Average Intrinsic Value | $	$ 802	$ 73
Options vested and expected to vest at September 30, 2022 | $	746
Options exercisable at September 30, 2022 | $	$ 229