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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