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Fair Value Measurements - Schedule of Financial Assets Measured on a Recurring Basis (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities $ 51,074 $ 51,732
U.S. Treasury Bills and Government Agency Obligations    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 40,527 31,636
U.S. Corporate Debt    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 6,297 11,653
Foreign Corporate Debt    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 4,250 5,460
U.S. Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities   1,990
Fair Value, Recurring    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Total 71,524 80,409
Fair Value, Recurring | Foreign Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities   993
Fair Value, Recurring | U.S. Treasury Bills and Government Agency Obligations    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 40,527 31,636
Fair Value, Recurring | U.S. Corporate Debt    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 11,476 16,889
Fair Value, Recurring | Foreign Corporate Debt    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 4,250 5,460
Fair Value, Recurring | U.S. Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities   1,990
Fair Value, Recurring | Cash and Money Market Funds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Cash and money market funds 15,271 23,441
Fair Value, Recurring | Quoted Prices in Active Markets for Identical Assets (Level 1)    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Total 55,798 55,077
Fair Value, Recurring | Quoted Prices in Active Markets for Identical Assets (Level 1) | U.S. Treasury Bills and Government Agency Obligations    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 40,527 31,636
Fair Value, Recurring | Quoted Prices in Active Markets for Identical Assets (Level 1) | Cash and Money Market Funds    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Cash and money market funds 15,271 23,441
Fair Value, Recurring | Significant Other Observable Inputs (Level 2)    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Total 15,726 25,332
Fair Value, Recurring | Significant Other Observable Inputs (Level 2) | Foreign Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities   993
Fair Value, Recurring | Significant Other Observable Inputs (Level 2) | U.S. Corporate Debt    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities 11,476 16,889
Fair Value, Recurring | Significant Other Observable Inputs (Level 2) | Foreign Corporate Debt    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities $ 4,250 5,460
Fair Value, Recurring | Significant Other Observable Inputs (Level 2) | U.S. Commercial Paper    
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]    
Available-for-sale securities   $ 1,990