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Fair Value of Financial Instruments - Cash and Cash Equivalents (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Fair Value [Line Items]
Amortized Cost	$ 333,113	$ 322,012
Unrealized Gains	525	7
Unrealized Losses	(390)	(2,713)
Fair Value	333,248	319,306
Cash excluded	149,000	61,200
Cash Equivalents
Fair Value [Line Items]
Amortized Cost	54,707	112,488
Unrealized Gains	4	4
Unrealized Losses	0	0
Fair Value	54,711	112,492
Short-term marketable securities:
Fair Value [Line Items]
Amortized Cost	222,168	148,867
Unrealized Gains	85	3
Unrealized Losses	(360)	(1,262)
Fair Value	221,893	147,608
Long-term marketable securities:
Fair Value [Line Items]
Amortized Cost	56,238	60,657
Unrealized Gains	436	0
Unrealized Losses	(30)	(1,451)
Fair Value	56,644	59,206
Commercial paper | Short-term marketable securities:
Fair Value [Line Items]
Amortized Cost	54,254
Unrealized Gains	32
Unrealized Losses	(7)
Fair Value	54,279
Corporate bonds | Short-term marketable securities:
Fair Value [Line Items]
Amortized Cost	23,013	36,908
Unrealized Gains	1	3
Unrealized Losses	(149)	(337)
Fair Value	22,865	36,574
Corporate bonds | Long-term marketable securities:
Fair Value [Line Items]
Amortized Cost	33,337	28,146
Unrealized Gains	285	0
Unrealized Losses	(22)	(810)
Fair Value	33,600	27,336
Asset-backed securities | Short-term marketable securities:
Fair Value [Line Items]
Amortized Cost		726
Unrealized Gains		0
Unrealized Losses		(2)
Fair Value		724
Asset-backed securities | Long-term marketable securities:
Fair Value [Line Items]
Amortized Cost	13,785	14,435
Unrealized Gains	102	0
Unrealized Losses	(6)	(132)
Fair Value	13,881	14,303
U.S. Treasury and government agencies | Short-term marketable securities:
Fair Value [Line Items]
Amortized Cost	144,901	110,225
Unrealized Gains	52	0
Unrealized Losses	(204)	(921)
Fair Value	144,749	109,304
U.S. Treasury and government agencies | Long-term marketable securities:
Fair Value [Line Items]
Amortized Cost	9,116	18,076
Unrealized Gains	49	0
Unrealized Losses	(2)	(509)
Fair Value	9,163	17,567
Foreign government | Short-term marketable securities:
Fair Value [Line Items]
Amortized Cost		1,008
Unrealized Gains		0
Unrealized Losses		(2)
Fair Value		1,006
Money market funds | Cash Equivalents
Fair Value [Line Items]
Amortized Cost	87	82,701
Unrealized Gains	0	0
Unrealized Losses	0	0
Fair Value	87	82,701
U.S. Treasury and government agencies | Cash Equivalents
Fair Value [Line Items]
Amortized Cost	54,620	29,787
Unrealized Gains	4	4
Unrealized Losses	0	0
Fair Value	$ 54,624	$ 29,791

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