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Supplementary Balance Sheet Information - Short-term Investments (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Maturity less than 1 year:
Amortized Cost	$ 26,293	$ 84,299
Gross Unrealized Gains	33	19
Gross Unrealized Losses	(17)	(394)
Fair Market Value	26,309	83,924
Maturity 1 to 2 years:
Amortized Cost	26,942	5,016
Gross Unrealized Gains	6	1
Gross Unrealized Losses	(89)	(21)
Fair Market Value	26,859	4,996
Amortized Cost	53,235	89,315
Gross Unrealized Gains	39	20
Gross Unrealized Losses	(106)	(415)
Fair Market Value	53,168	88,920
Certificate of deposit
Maturity less than 1 year:
Amortized Cost	8,317	16,101
Gross Unrealized Gains	16	3
Gross Unrealized Losses	0	(81)
Fair Market Value	8,333	16,023
Corporate debt securities
Maturity less than 1 year:
Amortized Cost	10,948	44,806
Gross Unrealized Gains	8	8
Gross Unrealized Losses	(16)	(275)
Fair Market Value	10,940	44,539
Maturity 1 to 2 years:
Amortized Cost	8,437	5,016
Gross Unrealized Gains	6	1
Gross Unrealized Losses	(10)	(21)
Fair Market Value	8,433	4,996
Commercial paper
Maturity less than 1 year:
Amortized Cost	6,193	13,203
Gross Unrealized Gains	9	4
Gross Unrealized Losses	0	(20)
Fair Market Value	6,202	13,187
U.S. government agencies
Maturity less than 1 year:
Amortized Cost	835	2,284
Gross Unrealized Gains	0	4
Gross Unrealized Losses	(1)	0
Fair Market Value	834	2,288
U.S. treasury securities
Maturity less than 1 year:
Amortized Cost		7,905
Gross Unrealized Gains		0
Gross Unrealized Losses		(18)
Fair Market Value		$ 7,887
Maturity 1 to 2 years:
Amortized Cost	18,505
Gross Unrealized Gains	0
Gross Unrealized Losses	(79)
Fair Market Value	$ 18,426

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