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Fair Value Measurements - Schedule of Financial Assets and Liabilities Measured at Fair Value on Recurring Basis and Level of Inputs used in such Measurements (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | --- | ---
Assets |  |  |
Cash and cash equivalents, Adjusted Cost | $ 56,984 | $ 89,128 | $ 105,585
Fair Value Measurements Recurring |  |  |
Assets |  |  |
Assets, Adjusted Cost | 114,192 | 168,342 |
Assets, Unrealized Gains | 8 | 2 |
Assets, Unrealized Losses | (21) | (686) |
Assets, Fair Value | 114,179 | 167,658 |
Cash and cash equivalents, Adjusted Cost | 57,001 | 89,142 |
Cash and cash equivalents, Unrealized Gains | 1 | 1 |
Cash and cash equivalents, Unrealized Losses | (18) | (15) |
Cash and cash equivalents, Fair Value | 56,984 | 89,128 |
Fair Value Measurements Recurring | Short-term Investments |  |  |
Assets |  |  |
Investments, Adjusted Cost | 57,191 | 79,200 |
Investments, Unrealized Gains | 7 | 1 |
Investments, Unrealized Losses | (3) | (671) |
Investments, Fair Value | 57,195 | 78,530 |
Fair Value Measurements Recurring | Commercial Paper | Level 2 |  |  |
Assets |  |  |
Cash and cash equivalents, Adjusted Cost | 34,416 | 47,135 |
Cash and cash equivalents, Unrealized Losses | (18) | (15) |
Cash and cash equivalents, Fair Value | 34,398 | 47,120 |
Fair Value Measurements Recurring | Commercial Paper | Level 2 | Short-term Investments |  |  |
Assets |  |  |
Investments, Adjusted Cost | 495 | 13,097 |
Investments, Unrealized Losses |  | (51) |
Investments, Fair Value | 495 | 13,046 |
Fair Value Measurements Recurring | U.S. Government Securities | Level 2 |  |  |
Assets |  |  |
Cash and cash equivalents, Adjusted Cost | 1,983 | 4,991 |
Cash and cash equivalents, Unrealized Gains |  | 1 |
Cash and cash equivalents, Fair Value | 1,983 | 4,992 |
Fair Value Measurements Recurring | U.S. Government Securities | Level 2 | Short-term Investments |  |  |
Assets |  |  |
Investments, Adjusted Cost | 54,720 | 56,658 |
Investments, Unrealized Gains | 7 | 1 |
Investments, Unrealized Losses | (3) | (515) |
Investments, Fair Value | 54,724 | 56,144 |
Fair Value Measurements Recurring | U.S. Agency Securities | Level 2 |  |  |
Assets |  |  |
Cash and cash equivalents, Adjusted Cost | 1,985 |  |
Cash and cash equivalents, Unrealized Gains | 1 |  |
Cash and cash equivalents, Fair Value | 1,986 |  |
Fair Value Measurements Recurring | U.S. Agency Securities | Level 2 | Short-term Investments |  |  |
Assets |  |  |
Investments, Adjusted Cost | 1,976 | 9,445 |
Investments, Unrealized Losses |  | (105) |
Investments, Fair Value | 1,976 | 9,340 |
Fair Value Measurements Recurring | Cash |  |  |
Assets |  |  |
Cash and cash equivalents, Adjusted Cost | 3,649 | 5,615 |
Cash and cash equivalents, Fair Value | 3,649 | 5,615 |
Fair Value Measurements Recurring | Money Market Funds | Level 1 |  |  |
Assets |  |  |
Cash and cash equivalents, Adjusted Cost | 14,968 | 31,401 |
Cash and cash equivalents, Fair Value | $ 14,968 | $ 31,401 |

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