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Financial Instruments - Amortized Cost, Unrealized Gains and Losses, and Fair Value (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Securities, Available-for-Sale [Line Items]
Fair Value	$ 259,251		$ 0
Cash and Cash Equivalents	283,043	$ 227,380
Marketable securities	237,074	342,975
Fair Value, Recurring
Debt Securities, Available-for-Sale [Line Items]
Gross Unrealized Gains	57	41
Gross Unrealized Losses	(44)	(414)
Total cash, cash equivalents, and marketable securities	520,104	570,728
Total cash, cash equivalents, and marketable securities	520,117	570,355
Fair Value, Inputs, Level 1
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	260,866	218,881
Marketable securities	138,923	201,414
Fair Value, Inputs, Level 1 | Fair Value, Recurring
Debt Securities, Available-for-Sale [Line Items]
Gross Unrealized Gains	38	9
Gross Unrealized Losses	(8)	(180)
Total cash, cash equivalents, and marketable securities	399,759	420,466
Total cash, cash equivalents, and marketable securities	399,789	420,295
Fair Value, Inputs, Level 2
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	22,177	8,499
Marketable securities	98,151	141,561
Fair Value, Inputs, Level 2 | Commercial paper
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	6,495	0
Marketable securities	19,404	41,348
Fair Value, Inputs, Level 2 | Certificates of deposit
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	3,010
Marketable securities	4,758	6,116
Fair Value, Inputs, Level 2 | Corporate notes and obligations
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	12,672	1,519
Marketable securities	58,864	62,201
Fair Value, Inputs, Level 2 | Asset-backed securities
Debt Securities, Available-for-Sale [Line Items]
Marketable securities	7,316	15,138
Fair Value, Inputs, Level 2 | U.S. agency securities
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	0	6,980
Marketable securities	7,809	16,758
Fair Value, Inputs, Level 2 | Fair Value, Recurring
Debt Securities, Available-for-Sale [Line Items]
Gross Unrealized Gains	19	32
Gross Unrealized Losses	(36)	(234)
Total cash, cash equivalents, and marketable securities	120,345	150,262
Total cash, cash equivalents, and marketable securities	120,328	150,060
Fair Value, Inputs, Level 2 | Fair Value, Recurring | Commercial paper
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost Basis	25,899	41,348
Fair Value	25,899	41,348
Fair Value, Inputs, Level 2 | Fair Value, Recurring | Certificates of deposit
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost Basis	7,768	6,116
Fair Value	7,768	6,116
Fair Value, Inputs, Level 2 | Fair Value, Recurring | Corporate notes and obligations
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost Basis	71,545	63,912
Gross Unrealized Gains	12	10
Gross Unrealized Losses	(21)	(202)
Fair Value	71,536	63,720
Fair Value, Inputs, Level 2 | Fair Value, Recurring | Asset-backed securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost Basis	7,319	15,150
Gross Unrealized Gains	7	17
Gross Unrealized Losses	(10)	(29)
Fair Value	7,316	15,138
Fair Value, Inputs, Level 2 | Fair Value, Recurring | U.S. agency securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost Basis	7,814	23,736
Gross Unrealized Gains	0	5
Gross Unrealized Losses	(5)	(3)
Fair Value	7,809	23,738
Cash | Fair Value, Inputs, Level 1
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	237,104	166,341
Cash | Fair Value, Inputs, Level 1 | Fair Value, Recurring
Debt Securities, Available-for-Sale [Line Items]
Cash and cash equivalent	237,104	166,341
Money market mutual funds
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents			$ 0
Money market mutual funds | Fair Value, Inputs, Level 1
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	23,762	49,545
Money market mutual funds | Fair Value, Inputs, Level 1 | Fair Value, Recurring
Debt Securities, Available-for-Sale [Line Items]
Cash and cash equivalent	23,762	49,545
U.S. treasury securities | Fair Value, Inputs, Level 1
Debt Securities, Available-for-Sale [Line Items]
Cash and Cash Equivalents	0	2,995
Marketable securities	138,923	201,414
U.S. treasury securities | Fair Value, Inputs, Level 1 | Fair Value, Recurring
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost Basis	138,893	204,580
Gross Unrealized Gains	38	9
Gross Unrealized Losses	(8)	(180)
Fair Value	$ 138,923	$ 204,409

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