Fair Value Measurements (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022 |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Total assets | $ 108,759 | $ 105,924 |
Marketable securities, noncurrent | 9,709 | 12,995 |
Marketable securities | 99,050 | 92,929 |
Level 1 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Total assets | 0 | 0 |
Level 2 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Total assets | 108,759 | 105,924 |
Level 3 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Total assets | 0 | 0 |
Corporate bonds | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 31,231 | 33,183 |
Corporate bonds | Level 1 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
Corporate bonds | Level 2 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 31,231 | 33,183 |
Corporate bonds | Level 3 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
Commercial paper | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 41,398 | 43,489 |
Commercial paper | Level 1 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
Commercial paper | Level 2 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 41,398 | 43,489 |
Commercial paper | Level 3 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
U.S. Treasury securities | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 12,783 | 14,145 |
U.S. Treasury securities | Level 1 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
U.S. Treasury securities | Level 2 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 12,783 | 14,145 |
U.S. Treasury securities | Level 3 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
Asset-backed securities | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 2,021 | 2,157 |
Asset-backed securities | Level 1 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
Asset-backed securities | Level 2 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 2,021 | 2,157 |
Asset-backed securities | Level 3 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
U.S. agency securities | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 21,326 | 12,950 |
U.S. agency securities | Level 1 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 0 | 0 |
U.S. agency securities | Level 2 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | 21,326 | 12,950 |
U.S. agency securities | Level 3 | | |
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items] | | |
Marketable securities | $ 0 | $ 0 |