We propose a new coding scheme, called the delayed coding (DC) scheme, for channels with insertion, deletion, and substitution (IDS) errors. The proposed scheme employs delayed encoding and non-iterative detection and decoding strategies to manage the transmission of multiple codewords in a linear code. In the DC scheme, a channel input sequence consists of subblocks of multiple codewords from the previous to current time instances. At the receiver side, the maximum a posteriori detection applies to the received sequences that contain information of the codeword at the current time instance, where priorly decoded codewords aid the detection. The channel code decoding is then performed, and extrinsic messages are exploited for the codeword estimations of the following time instances. We show that the rate achievable with the DC scheme over the IDS channel approaches the symmetric information rate of the channel. Moreover, we show the excellent asymptotic and finite-length performances of the DC scheme in conjunction with low-density parity-check codes.