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Fair Value Measurements - Summary of the Estimated Fair Value of Cash Equivalents, Restricted Cash, And Short-Term Investments (Details) - USD ($) $ in Thousands | Jun. 30, 2023 | Dec. 31, 2022 | Jun. 30, 2022 | Dec. 31, 2021
--- | --- | --- | --- | ---
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash, cash equivalents, and restricted cash | $ 40,088 | $ 60,987 | $ 143,057 | $ 59,291
Unrealized Gain | 1 | 5 |  |
Unrealized Loss | (1) | (4) |  |
Cash and cash equivalents and debt securities, available-for-sale, adjusted cost | 62,971 | 101,928 |  |
Cash and cash equivalents and debt securities, available-for-sale, fair value | 62,971 | 101,929 |  |
Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash and cash equivalents and debt securities, available-for-sale, fair value | 36,752 | 57,621 |  |
Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash and cash equivalents and debt securities, available-for-sale, fair value | 3,336 | 3,366 |  |
Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash and cash equivalents and debt securities, available-for-sale, fair value | 22,883 | 40,942 |  |
Level 1 |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash | 4,559 |  |  |
Cash, cash equivalents, and restricted cash | 35,529 | 45,412 |  |
Level 1 | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash | 4,559 |  |  |
Cash, cash equivalents, and restricted cash | 32,193 | 42,046 |  |
Level 1 | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash | 0 |  |  |
Cash, cash equivalents, and restricted cash | 3,336 | 3,366 |  |
Level 1 | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash | 0 |  |  |
Cash, cash equivalents, and restricted cash | 0 | 0 |  |
Level 1 | Money market funds |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash, cash equivalents, and restricted cash | 35,529 | 45,412 |  |
Level 1 | Money market funds | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash, cash equivalents, and restricted cash | 32,193 | 42,046 |  |
Level 1 | Money market funds | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash, cash equivalents, and restricted cash | 3,336 | 3,366 |  |
Level 1 | Money market funds | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Cash, cash equivalents, and restricted cash | 0 | 0 |  |
Level 2 |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Adjusted Cost | 22,883 | 56,516 |  |
Unrealized Gain | 1 | 5 |  |
Unrealized Loss | (1) | (4) |  |
Estimated Fair Value | 22,883 | 56,517 |  |
Level 2 | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 15,575 |  |
Level 2 | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 0 |  |
Level 2 | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 22,883 | 40,942 |  |
Level 2 | U.S. Treasury securities |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Adjusted Cost | 6,482 | 14,866 |  |
Unrealized Gain | 0 | 4 |  |
Unrealized Loss | 0 | (3) |  |
Estimated Fair Value | 6,482 | 14,867 |  |
Level 2 | U.S. Treasury securities | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 0 |  |
Level 2 | U.S. Treasury securities | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 0 |  |
Level 2 | U.S. Treasury securities | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 6,482 | 14,867 |  |
Level 2 | U.S. agency securities |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Adjusted Cost | 13,907 | 5,938 |  |
Unrealized Gain | 1 | 0 |  |
Unrealized Loss | (1) | 0 |  |
Estimated Fair Value | 13,907 | 5,938 |  |
Level 2 | U.S. agency securities | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 3,983 |  |
Level 2 | U.S. agency securities | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 0 |  |
Level 2 | U.S. agency securities | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 13,907 | 1,955 |  |
Level 2 | Commercial Paper |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Adjusted Cost | 2,494 | 28,122 |  |
Unrealized Gain | 0 | 0 |  |
Unrealized Loss | 0 | 0 |  |
Estimated Fair Value | 2,494 | 28,122 |  |
Level 2 | Commercial Paper | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 5,994 |  |
Level 2 | Commercial Paper | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 0 |  |
Level 2 | Commercial Paper | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 2,494 | 22,128 |  |
Level 2 | Corporate debt securities |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Adjusted Cost | 0 | 7,590 |  |
Unrealized Gain | 0 | 1 |  |
Unrealized Loss | 0 | (1) |  |
Estimated Fair Value | 0 | 7,590 |  |
Level 2 | Corporate debt securities | Cash and cash equivalents |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 5,598 |  |
Level 2 | Corporate debt securities | Restricted cash |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | 0 | 0 |  |
Level 2 | Corporate debt securities | Short-term investments |  |  |  |
Debt Securities, Available-for-Sale [Line Items] |  |  |  |
Estimated Fair Value | $ 0 | $ 1,992 |  |

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