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Fair Value Measurement - Schedule of Assets and Liabilities Measured at Fair Value On A Recurring Basis (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022
Assets:
Money market funds	$ 167,707	$ 213,667	$ 262,757
Available-for-sale securities	14,474	22,279
Recurring
Assets:
Total assets at fair value on a recurring basis	107,697	22,496
Money market funds | Recurring
Assets:
Money market funds	78,308	217
U.S. treasury bills | Recurring
Assets:
Available-for-sale securities	14,915
Tax-exempt municipal securities
Assets:
Available-for-sale securities	11,392	15,347
Tax-exempt municipal securities | Recurring
Assets:
Available-for-sale securities	11,392	15,347
Corporate debt securities
Assets:
Available-for-sale securities	3,082	6,932
Corporate debt securities | Recurring
Assets:
Available-for-sale securities	3,082	6,932
Quoted Prices in Active Markets for Identical Assets/Liabilities (Level 1) | Recurring
Assets:
Total assets at fair value on a recurring basis	93,223	217
Quoted Prices in Active Markets for Identical Assets/Liabilities (Level 1) | Money market funds | Recurring
Assets:
Money market funds	78,308	217
Quoted Prices in Active Markets for Identical Assets/Liabilities (Level 1) | U.S. treasury bills | Recurring
Assets:
Available-for-sale securities	14,915
Quoted Prices in Active Markets for Identical Assets/Liabilities (Level 1) | Tax-exempt municipal securities | Recurring
Assets:
Available-for-sale securities	0	0
Quoted Prices in Active Markets for Identical Assets/Liabilities (Level 1) | Corporate debt securities | Recurring
Assets:
Available-for-sale securities	0	0
Significant Other Observable Inputs (Level 2) | Recurring
Assets:
Total assets at fair value on a recurring basis	14,474	22,279
Significant Other Observable Inputs (Level 2) | Money market funds | Recurring
Assets:
Money market funds	0	0
Significant Other Observable Inputs (Level 2) | U.S. treasury bills | Recurring
Assets:
Available-for-sale securities	0
Significant Other Observable Inputs (Level 2) | Tax-exempt municipal securities | Recurring
Assets:
Available-for-sale securities	11,392	15,347
Significant Other Observable Inputs (Level 2) | Corporate debt securities | Recurring
Assets:
Available-for-sale securities	3,082	6,932
Significant Unobservable Inputs (Level 3) | Recurring
Assets:
Total assets at fair value on a recurring basis	0	0
Significant Unobservable Inputs (Level 3) | Money market funds | Recurring
Assets:
Money market funds	0	0
Significant Unobservable Inputs (Level 3) | U.S. treasury bills | Recurring
Assets:
Available-for-sale securities	0
Significant Unobservable Inputs (Level 3) | Tax-exempt municipal securities | Recurring
Assets:
Available-for-sale securities	0	0
Significant Unobservable Inputs (Level 3) | Corporate debt securities | Recurring
Assets:
Available-for-sale securities	$ 0	$ 0

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Fair value portion of probable future economic benefits obtained or controlled by an entity as a result of past transactions or events.

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Amount of investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale).

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