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Fair Value Measurements - Measured on Recurring Basis (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | $ 22,518 | $ 106,513
Mutual and money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 22,518 | 78,098
Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities |  | 16,479
Government securities - U.S. |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities |  | 9,471
Other fixed-income securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities |  | 2,465
Fair Value Measurements, Recurring | Level 1 |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 22,518 | 78,098
Fair Value Measurements, Recurring | Level 1 | Mutual and money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 22,518 | 78,098
Fair Value Measurements, Recurring | Level 1 | Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 1 | Government securities - U.S. |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 1 | Other fixed-income securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 2 |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 28,415
Fair Value Measurements, Recurring | Level 2 | Mutual and money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 2 | Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 16,479
Fair Value Measurements, Recurring | Level 2 | Government securities - U.S. |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 9,471
Fair Value Measurements, Recurring | Level 2 | Other fixed-income securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 2,465
Fair Value Measurements, Recurring | Level 3 |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total assets | 0 | 0
Fair Value Measurements, Recurring | Level 3 | Mutual and money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 3 | Corporate bonds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 3 | Government securities - U.S. |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | 0 | 0
Fair Value Measurements, Recurring | Level 3 | Other fixed-income securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Marketable securities | $ 0 | $ 0

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