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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