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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 | Jun. 30, 2023 | Dec. 31, 2022
--- | --- | ---
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | $ 30,418 | $ 118,247
Unrealized Gains | 0 | 0
Unrealized Losses | (152) | (1,089)
Estimated Fair Value | 30,266 | 117,158
Less: cash equivalents, amortized cost basis | (106,218) | (56,256)
Less: cash equivalents, unrealized gains | (2) | 0
Less: cash equivalents, unrealized losses | 18 | 16
Less: cash equivalents, estimated fair value | (106,202) | (56,240)
Money market funds | Level 1: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 10,541 | 10,235
Unrealized Gains | 0 | 0
Unrealized Losses | 0 | 0
Estimated Fair Value | 10,541 | 10,235
Commercial paper | Level 2: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 101,677 | 102,722
Unrealized Gains | 0 | 0
Unrealized Losses | (27) | (246)
Estimated Fair Value | 101,650 | 102,476
U.S. government and agency securities | Level 2: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 24,418 | 59,487
Unrealized Gains | 2 | 0
Unrealized Losses | (143) | (824)
Estimated Fair Value | 24,277 | 58,663
Corporate bonds | Level 2: |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis |  | 2,059
Unrealized Gains |  | 0
Unrealized Losses |  | (35)
Estimated Fair Value |  | 2,024
Total cash equivalents and short-term investments |  |
Debt Securities, Available-for-sale [Line Items] |  |
Amortized Cost Basis | 136,636 | 174,503
Unrealized Gains | 2 | 0
Unrealized Losses | (170) | (1,105)
Estimated Fair Value | $ 136,468 | $ 173,398

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