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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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