Stay even though it was toxic?

So my boyfriend had told me he realized he was being toxic in our relationship and confided in some friend about it. I didn’t realize it much until he told me. I knew we were struggling but to connect why it finally hit when he mentioned it. He told me he understands if I leave him and wants better for me. But he also told me he wants to change and will because he said I deserve better. He told me that the only relationship he knew was his mom and dads ( mom went into prison for years and his dad was a drunk who cheated on two different women) honestly I am happy with him but we do have struggles and he has done so much for me. Even though I love him and I want to stay, would it be a good idea?