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Fair Value Measurement - Summary of Assets and Liabilities Measured at Fair Value (Details) - USD ($) $ in Thousands | Mar. 31, 2024 | Dec. 31, 2023
--- | --- | ---
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | $ 49,947 | $ 70,625
Current contingent liabilities | 891 | 1,303
Long-term contingent liabilities | 3,178 | 3,203
Government and agency securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 48,100 | 68,107
Asset-backed securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 1,847 | 2,518
Fair Value, Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 12,589 | 12,289
Total short-term investments | 49,947 | 70,625
Current contingent liabilities | 891 | 1,303
Long-term contingent liabilities | 3,178 | 3,203
Total contingent liabilities | 4,069 | 4,506
Fair Value, Recurring | Government and agency securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 48,099 | 68,107
Fair Value, Recurring | Asset-backed securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 1,848 | 2,518
Fair Value, Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 12,589 | 12,289
Level 1 | Fair Value, Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 12,589 | 12,289
Total short-term investments | 48,099 | 63,109
Current contingent liabilities | 0 | 0
Long-term contingent liabilities | 0 | 0
Total contingent liabilities | 0 | 0
Level 1 | Fair Value, Recurring | Government and agency securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 48,099 | 63,109
Level 1 | Fair Value, Recurring | Asset-backed securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 0 | 0
Level 1 | Fair Value, Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 12,589 | 12,289
Level 2 | Fair Value, Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 0 | 0
Total short-term investments | 1,848 | 7,516
Current contingent liabilities | 0 | 0
Long-term contingent liabilities | 0 | 0
Total contingent liabilities | 0 | 0
Level 2 | Fair Value, Recurring | Government and agency securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 0 | 4,998
Level 2 | Fair Value, Recurring | Asset-backed securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 1,848 | 2,518
Level 2 | Fair Value, Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 0 | 0
Level 3 | Fair Value, Recurring |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | 0 | 0
Total short-term investments | 0 | 0
Current contingent liabilities | 891 | 1,303
Long-term contingent liabilities | 3,178 | 3,203
Total contingent liabilities | 4,069 | 4,506
Level 3 | Fair Value, Recurring | Government and agency securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 0 | 0
Level 3 | Fair Value, Recurring | Asset-backed securities |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total short-term investments | 0 | 0
Level 3 | Fair Value, Recurring | Money market funds |  |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] |  |
Total cash equivalents | $ 0 | $ 0

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