Compiling .scss into css is part of the normal work-flow in Grav. My experience in the last couple of years has been with sass so I've forgotten the nuances of working with less, but they only differ in their particulars. BTW, I am using Windows 10 and these directions are for localhost.
My method for taking advantage of sass in a Grav theme is to use the watch method with the github terminal (outlined below). If you don't use a CLI there is a cross-platform tool called Prepros that will handle the preprocessing of scss (as well as many others). I highly recommend Prepros -- having used it for a couple of years.
In any case, there should be a file named _custom.scss located in \user hemes\YOURtheme\scss emplate. _custon.scss is where you would enter all of your sass declarations.
The big trick is to automatically process the scss into css. Both the cli and Prepros can do this for you.
Using sass in beyond the scope of this message.
I assume your theme has: \user hemes\YOURtheme\css-compiled emplate.css. If not, you have a few more hoops to jump through. Use Antimatter as a guide.
Open (or cd into) your terminal in the root folder of your theme. Then type (or paste) the following into the terminal:
scss --load-path ../antimatter/scss --watch scss:css-compiled
Hit Enter.
Now, every time you make a save to _custom.scss your scss will be converted and written to template.css
Note that you'll have to open the cli and enter the "watch" command every time you start up your localhost server.