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Financial Instruments - Unrealized Losses for Investments in a Continuous Unrealized Loss Position (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]    
Less than 12 months, fair value $ 7,065 $ 21,554
12 months or greater, fair value 32,612 74,205
Fair value 39,677 95,759
Less than 12 months, unrealized loss (23) (639)
12 months or greater, unrealized loss (789) (2,992)
Unrealized loss (812) (3,631)
Corporate bonds    
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]    
Less than 12 months, fair value 0 10,639
12 months or greater, fair value 27,939 54,634
Fair value 27,939 65,273
Less than 12 months, unrealized loss 0 (440)
12 months or greater, unrealized loss (676) (2,475)
Unrealized loss (676) (2,915)
U.S. government treasury bonds    
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]    
Less than 12 months, fair value 2,044 5,262
12 months or greater, fair value 2,712 14,748
Fair value 4,756 20,010
Less than 12 months, unrealized loss (11) (177)
12 months or greater, unrealized loss (88) (372)
Unrealized loss (99) (549)
Asset-backed securities    
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]    
Less than 12 months, fair value 1,018 2,636
12 months or greater, fair value 83 1,275
Fair value 1,101 3,911
Less than 12 months, unrealized loss (1) (17)
12 months or greater, unrealized loss 0 (20)
Unrealized loss (1) (37)
Municipal bonds    
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]    
Less than 12 months, fair value 0 0
12 months or greater, fair value 700 2,412
Fair value 700 2,412
Less than 12 months, unrealized loss 0 0
12 months or greater, unrealized loss (2) (61)
Unrealized loss (2) (61)
U.S. government agency bonds    
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]    
Less than 12 months, fair value 4,003 3,017
12 months or greater, fair value 1,178 1,136
Fair value 5,181 4,153
Less than 12 months, unrealized loss (11) (5)
12 months or greater, unrealized loss (23) (64)
Unrealized loss $ (34) $ (69)