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Fair Value Measurements - Financial Assets and Liabilities Measured on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022
--- | --- | ---
Assets: |  |
Assets, fair value | $ 122,387 | $ 112,082
Liabilities: |  |
Liabilities, fair value | 1,726 | 1,656
Derivative liabilities for exit fees |  |
Liabilities: |  |
Liabilities, fair value | 1,726 | 1,656
Money market funds |  |
Assets: |  |
Assets, fair value | 84,501 | 84,313
Commercial paper |  |
Assets: |  |
Assets, fair value | 23,333 | 25,291
Corporate bonds |  |
Assets: |  |
Assets, fair value |  | 999
U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value | 12,620 | 1,479
Asset-backed securities |  |
Assets: |  |
Assets, fair value | 1,933 |
Level 1 |  |
Assets: |  |
Assets, fair value | 84,501 | 84,313
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 1 | Derivative liabilities for exit fees |  |
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 1 | Money market funds |  |
Assets: |  |
Assets, fair value | 84,501 | 84,313
Level 1 | Commercial paper |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 1 | Corporate bonds |  |
Assets: |  |
Assets, fair value |  | 0
Level 1 | U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 1 | Asset-backed securities |  |
Assets: |  |
Assets, fair value | 0 |
Level 2 |  |
Assets: |  |
Assets, fair value | 37,886 | 27,769
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 2 | Derivative liabilities for exit fees |  |
Liabilities: |  |
Liabilities, fair value | 0 | 0
Level 2 | Money market funds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 2 | Commercial paper |  |
Assets: |  |
Assets, fair value | 23,333 | 25,291
Level 2 | Corporate bonds |  |
Assets: |  |
Assets, fair value |  | 999
Level 2 | U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value | 12,620 | 1,479
Level 2 | Asset-backed securities |  |
Assets: |  |
Assets, fair value | 1,933 |
Level 3 |  |
Assets: |  |
Assets, fair value | 0 | 0
Liabilities: |  |
Liabilities, fair value | 1,726 | 1,656
Level 3 | Derivative liabilities for exit fees |  |
Liabilities: |  |
Liabilities, fair value | 1,726 | 1,656
Level 3 | Money market funds |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 3 | Commercial paper |  |
Assets: |  |
Assets, fair value | 0 | 0
Level 3 | Corporate bonds |  |
Assets: |  |
Assets, fair value |  | 0
Level 3 | U.S. government-sponsored agency bonds |  |
Assets: |  |
Assets, fair value | 0 | $ 0
Level 3 | Asset-backed securities |  |
Assets: |  |
Assets, fair value | $ 0 |

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