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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
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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