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Cash, Cash Equivalents and Marketable Securities - Cash, Cash Equivalents and Marketable Securities by Major Security Type (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	$ 72,956
Fair Value	72,504
Amortized Cost	100,162	$ 105,015
Gross Unrealized Gains	62	2
Gross Unrealized Losses	(519)	(984)
Fair Value	99,705	104,033
Cash and cash equivalents:
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	27,206	29,887
Gross Unrealized Gains	0	0
Gross Unrealized Losses	(5)	(9)
Fair Value	27,201	29,878
Cash and cash equivalents: | Cash
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	200	913
Gross Unrealized Gains	0	0
Gross Unrealized Losses	0	0
Fair Value	200	913
Cash and cash equivalents: | Money market funds
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	368	2,618
Gross Unrealized Gains	0	0
Gross Unrealized Losses	0	0
Fair Value	368	2,618
Cash and cash equivalents: | Commercial paper
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	25,743	26,356
Gross Unrealized Gains	0	0
Gross Unrealized Losses	(5)	(9)
Fair Value	25,738	26,347
Cash and cash equivalents: | U.S. federal agency securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	895
Gross Unrealized Gains	0
Gross Unrealized Losses	0
Fair Value	895
Current marketable securities:
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	43,905	53,392
Gross Unrealized Gains	0	2
Gross Unrealized Losses	(318)	(568)
Fair Value	43,587	52,826
Current marketable securities: | Commercial paper
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	11,125	15,219
Gross Unrealized Gains	0	2
Gross Unrealized Losses	(33)	(66)
Fair Value	11,092	15,155
Current marketable securities: | Corporate debt securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost		507
Gross Unrealized Gains		0
Gross Unrealized Losses		(5)
Fair Value		502
Current marketable securities: | U.S. federal agency securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	26,102	28,964
Gross Unrealized Gains	0	0
Gross Unrealized Losses	(210)	(364)
Fair Value	25,892	28,600
Current marketable securities: | U.S. government securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	6,678	8,702
Gross Unrealized Gains	0	0
Gross Unrealized Losses	(75)	(133)
Fair Value	6,603	8,569
Long-term marketable securities:
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	29,051	21,736
Gross Unrealized Gains	62	0
Gross Unrealized Losses	(196)	(407)
Fair Value	28,917	21,329
Long-term marketable securities: | Corporate debt securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	1,169	1,156
Gross Unrealized Gains	7	0
Gross Unrealized Losses	0	0
Fair Value	1,176	1,156
Long-term marketable securities: | U.S. federal agency securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	17,236	9,810
Gross Unrealized Gains	50	0
Gross Unrealized Losses	(65)	(199)
Fair Value	17,221	9,611
Long-term marketable securities: | U.S. government securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	10,646	10,770
Gross Unrealized Gains	5	0
Gross Unrealized Losses	(131)	(208)
Fair Value	$ 10,520	$ 10,562

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