Fair Value of Financial Instruments - Cash and Cash Equivalents (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	$ 300,699	$ 322,012
Unrealized Gains	14	7
Unrealized Losses	(938)	(2,713)
Fair Value	299,775	319,306
Cash, excluded	161,300	61,200
Cash equivalents
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	47,440	112,488
Unrealized Gains	0	4
Unrealized Losses	(3)	0
Fair Value	47,437	112,492
Short-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	219,459	148,867
Unrealized Gains	2	3
Unrealized Losses	(771)	(1,262)
Fair Value	218,690	147,608
Long-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	33,800	60,657
Unrealized Gains	12	0
Unrealized Losses	(164)	(1,451)
Fair Value	33,648	59,206
Commercial paper | Short-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	62,591
Unrealized Gains	0
Unrealized Losses	(21)
Fair Value	62,570
Corporate bonds | Short-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	29,131	36,908
Unrealized Gains	2	3
Unrealized Losses	(356)	(337)
Fair Value	28,777	36,574
Corporate bonds | Long-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	6,646	28,146
Unrealized Gains	0	0
Unrealized Losses	(48)	(810)
Fair Value	6,598	27,336
Asset-backed securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	15,470
Fair Value	15,434
Asset-backed securities | Short-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	0	726
Unrealized Gains	0	0
Unrealized Losses	0	(2)
Fair Value	0	724
Asset-backed securities | Long-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	15,470	14,435
Unrealized Gains	12	0
Unrealized Losses	(48)	(132)
Fair Value	15,434	14,303
U.S. Treasury and government agencies | Short-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	127,737	110,225
Unrealized Gains	0	0
Unrealized Losses	(394)	(921)
Fair Value	127,343	109,304
U.S. Treasury and government agencies | Long-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	11,684	18,076
Unrealized Gains	0	0
Unrealized Losses	(68)	(509)
Fair Value	11,616	17,567
Foreign government | Short-term marketable securities
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost		1,008
Unrealized Gains		0
Unrealized Losses		(2)
Fair Value		1,006
Money market funds | Cash equivalents
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	37,500	82,701
Unrealized Gains	0	0
Unrealized Losses	0	0
Fair Value	37,500	82,701
Commercial paper | Cash equivalents
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost	9,940
Unrealized Gains	0
Unrealized Losses	(3)
Fair Value	$ 9,937
U.S. Treasury and government agencies | Cash equivalents
Fair Value Disclosure, Asset and Liability, Not Measured at Fair Value [Line Items]
Amortized Cost		29,787
Unrealized Gains		4
Unrealized Losses		0
Fair Value		$ 29,791