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Fair Value Measurements - Cost, Unrealized Gains and Losses and Fair Value (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
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Debt Securities, Available-for-sale, Fair Value to Amortized Cost |  |
Amortized Cost | $ 45,637 | $ 42,526
Unrealized Losses | (311) | (29)
Unrealized Gains | 0 | 5
Fair Value | 45,326 | 42,502
Amounts recognized on the consolidated balance sheet |  |
Short-term marketable securities | 39,402 | 31,561
Long-term marketable securities | 5,924 | 10,941
U.S. Government agency bonds |  |
Debt Securities, Available-for-sale, Fair Value to Amortized Cost |  |
Amortized Cost | 30,897 | 20,509
Unrealized Losses | (282) | (28)
Unrealized Gains | 0 | 0
Fair Value | 30,615 | 20,481
Corporate bonds |  |
Debt Securities, Available-for-sale, Fair Value to Amortized Cost |  |
Amortized Cost |  | 2,915
Unrealized Losses |  | (1)
Unrealized Gains |  | 0
Fair Value |  | 2,914
Commercial paper |  |
Debt Securities, Available-for-sale, Fair Value to Amortized Cost |  |
Amortized Cost | 14,740 | 19,102
Unrealized Losses | (29) | 0
Unrealized Gains | 0 | 5
Fair Value | $ 14,711 | $ 19,107

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