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Fair Value Measurements - Fair Value of Assets and Liabilities (Details) - USD ($) $ in Thousands | Dec. 31, 2022 | Dec. 31, 2021
--- | --- | ---
Assets: |  |
Marketable securities | $ 45,326 | $ 42,502
U.S. Government agency bonds |  |
Assets: |  |
Marketable securities | 30,615 | 20,481
Corporate bonds |  |
Assets: |  |
Marketable securities |  | 2,914
Recurring Basis |  |
Assets: |  |
Cash equivalents | 4,647 | 7,241
Marketable securities | 45,326 | 42,502
Assets, Fair Value Disclosure, Total | 49,973 | 49,743
Recurring Basis | U.S. Government agency bonds |  |
Assets: |  |
Marketable securities | 30,615 | 20,481
Recurring Basis | Commercial paper |  |
Assets: |  |
Marketable securities | 14,711 | 19,107
Recurring Basis | Corporate bonds |  |
Assets: |  |
Marketable securities |  | 2,914
Level 1 | Recurring Basis |  |
Assets: |  |
Cash equivalents | 4,647 | 831
Marketable securities | 14,743 | 14,977
Assets, Fair Value Disclosure, Total | 19,390 | 15,808
Level 1 | Recurring Basis | U.S. Government agency bonds |  |
Assets: |  |
Marketable securities | 14,743 | 14,977
Level 1 | Recurring Basis | Commercial paper |  |
Assets: |  |
Marketable securities | 0 | 0
Level 1 | Recurring Basis | Corporate bonds |  |
Assets: |  |
Marketable securities |  | 0
Level 2 | Recurring Basis |  |
Assets: |  |
Cash equivalents | 0 | 6,410
Marketable securities | 30,583 | 27,525
Assets, Fair Value Disclosure, Total | 30,583 | 33,935
Level 2 | Recurring Basis | U.S. Government agency bonds |  |
Assets: |  |
Marketable securities | 15,872 | 5,504
Level 2 | Recurring Basis | Commercial paper |  |
Assets: |  |
Marketable securities | 14,711 | 19,107
Level 2 | Recurring Basis | Corporate bonds |  |
Assets: |  |
Marketable securities |  | 2,914
Level 3 | Recurring Basis |  |
Assets: |  |
Cash equivalents | 0 | 0
Marketable securities | 0 | 0
Assets, Fair Value Disclosure, Total | 0 | 0
Level 3 | Recurring Basis | U.S. Government agency bonds |  |
Assets: |  |
Marketable securities | 0 | 0
Level 3 | Recurring Basis | Commercial paper |  |
Assets: |  |
Marketable securities | 0 | 0
Level 3 | Recurring Basis | Corporate bonds |  |
Assets: |  |
Marketable securities |  | 0
Money market funds | Recurring Basis |  |
Assets: |  |
Cash equivalents | 4,647 | 831
Money market funds | Level 1 | Recurring Basis |  |
Assets: |  |
Cash equivalents | 4,647 | 831
Money market funds | Level 2 | Recurring Basis |  |
Assets: |  |
Cash equivalents | 0 | 0
Money market funds | Level 3 | Recurring Basis |  |
Assets: |  |
Cash equivalents | $ 0 | 0
Commercial paper | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 2,000
Commercial paper | Level 1 | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 0
Commercial paper | Level 2 | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 2,000
Commercial paper | Level 3 | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 0
Corporate bonds | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 4,410
Corporate bonds | Level 1 | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 0
Corporate bonds | Level 2 | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | 4,410
Corporate bonds | Level 3 | Recurring Basis |  |
Assets: |  |
Cash equivalents |  | $ 0

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