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Fair Value Measurements - Schedule of Financial Assets Measured at Fair Value on Recurring Basis and Level of Inputs used in such Measurements (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Mar. 31, 2023
Assets
Cash and cash equivalents, Adjusted Cost	$ 43,981	$ 56,984	$ 87,172
Fair Value Measurements Recurring
Assets
Assets, Adjusted Cost	95,505	114,192
Assets, Unrealized Gains		8
Assets, Unrealized Losses	(86)	(21)
Assets, Fair Value	95,419	114,179
Cash and cash equivalents, Adjusted Cost	43,996	57,001
Cash and cash equivalents, Unrealized Gains		1
Cash and cash equivalents, Unrealized Losses	(15)	(18)
Cash and cash equivalents, Fair Value	43,981	56,984
Fair Value Measurements Recurring \| Short-term Investments
Assets
Investments, Adjusted Cost	51,509	57,191
Investments, Unrealized Gains		7
Investments, Unrealized Losses	(71)	(3)
Investments, Fair Value	51,438	57,195
Fair Value Measurements Recurring \| Cash
Assets
Cash and cash equivalents, Adjusted Cost	765	3,649
Cash and cash equivalents, Fair Value	765	3,649
Fair Value Measurements Recurring \| Money Market Funds \| Level 1
Assets
Cash and cash equivalents, Adjusted Cost	10,598	14,968
Cash and cash equivalents, Fair Value	10,598	14,968
Fair Value Measurements Recurring \| Commercial Paper \| Level 2
Assets
Cash and cash equivalents, Adjusted Cost		34,416
Cash and cash equivalents, Unrealized Losses		(18)
Cash and cash equivalents, Fair Value		34,398
Fair Value Measurements Recurring \| Commercial Paper \| Level 2 \| Short-term Investments
Assets
Investments, Adjusted Cost		495
Investments, Unrealized Losses	(15)
Investments, Fair Value		495
Cash and cash equivalents, Adjusted Cost	31,063
Cash and cash equivalents, Fair Value	31,048
Fair Value Measurements Recurring \| U.S. Government Securities \| Level 2
Assets
Cash and cash equivalents, Adjusted Cost	1,570	1,983
Cash and cash equivalents, Fair Value	1,570	1,983
Fair Value Measurements Recurring \| U.S. Government Securities \| Level 2 \| Short-term Investments
Assets
Investments, Adjusted Cost	51,509	54,720
Investments, Unrealized Gains		7
Investments, Unrealized Losses	(71)	(3)
Investments, Fair Value	$ 51,438	54,724
Fair Value Measurements Recurring \| U.S. Agency Securities \| Level 2
Assets
Cash and cash equivalents, Unrealized Gains		1
Fair Value Measurements Recurring \| U.S. Agency Securities \| Level 2 \| Short-term Investments
Assets
Investments, Adjusted Cost		1,976
Investments, Fair Value		1,976
Cash and cash equivalents, Adjusted Cost		1,985
Cash and cash equivalents, Fair Value		$ 1,986