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Fair Value Measurements and Fair Value of Financial Instruments - Summary of Cash Equivalents and Short-term Investments (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022
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Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | $ 97,101 | $ 118,247
Unrealized Gains | 1 | 0
Unrealized Losses | (369) | (1,089)
Estimated Fair Value | 96,733 | 117,158
Less: cash equivalents, amortized cost basis | (60,485) | (56,256)
Less: cash equivalents, unrealized gains | (6) | 0
Less: cash equivalents, unrealized losses | 4 | 16
Less: cash equivalents, estimated fair value | (60,487) | (56,240)
Money market funds | Level 1: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 10,984 | 10,235
Unrealized Gains | 0 | 0
Unrealized Losses | 0 | 0
Estimated Fair Value | 10,984 | 10,235
Commercial paper | Level 2: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 72,594 | 102,722
Unrealized Gains | 1 | 0
Unrealized Losses | (66) | (246)
Estimated Fair Value | 72,529 | 102,476
U.S. government and agency securities | Level 2: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 71,949 | 59,487
Unrealized Gains | 6 | 0
Unrealized Losses | (300) | (824)
Estimated Fair Value | 71,655 | 58,663
Corporate bonds | Level 2: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 2,059 | 2,059
Unrealized Gains | 0 | 0
Unrealized Losses | (7) | (35)
Estimated Fair Value | 2,052 | 2,024
Total cash equivalents and short-term investments |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 157,586 | 174,503
Unrealized Gains | 7 | 0
Unrealized Losses | (373) | (1,105)
Estimated Fair Value | $ 157,220 | $ 173,398

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