Fair Value Measurement - Marketable Securities Measured at Fair Value on Recurring Basis (Details) - Recurring - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Marketable securities
Marketable securities	$ 84,575	$ 141,389
Money market funds
Marketable securities
Marketable securities	8,002	57,829
U.S. treasury securities
Marketable securities
Marketable securities	48,535	28,048
U.S. agency bonds
Marketable securities
Marketable securities	2,921
Corporate bonds
Marketable securities
Marketable securities	2,911	31,539
Commercial paper
Marketable securities
Marketable securities	22,206	23,973
Level 1
Marketable securities
Marketable securities	56,537	85,877
Level 1 | Money market funds
Marketable securities
Marketable securities	8,002	57,829
Level 1 | U.S. treasury securities
Marketable securities
Marketable securities	48,535	28,048
Level 1 | U.S. agency bonds
Marketable securities
Marketable securities	0
Level 1 | Corporate bonds
Marketable securities
Marketable securities	0	0
Level 1 | Commercial paper
Marketable securities
Marketable securities	0	0
Level 2
Marketable securities
Marketable securities	28,038	55,512
Level 2 | Money market funds
Marketable securities
Marketable securities	0	0
Level 2 | U.S. treasury securities
Marketable securities
Marketable securities	0	0
Level 2 | U.S. agency bonds
Marketable securities
Marketable securities	2,921
Level 2 | Corporate bonds
Marketable securities
Marketable securities	2,911	31,539
Level 2 | Commercial paper
Marketable securities
Marketable securities	22,206	23,973
Level 3
Marketable securities
Marketable securities	0	0
Level 3 | Money market funds
Marketable securities
Marketable securities	0	0
Level 3 | U.S. treasury securities
Marketable securities
Marketable securities	0	0
Level 3 | U.S. agency bonds
Marketable securities
Marketable securities	0
Level 3 | Corporate bonds
Marketable securities
Marketable securities	0	0
Level 3 | Commercial paper
Marketable securities
Marketable securities	$ 0	$ 0