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Fair Value Measurement - Summary of Fair Value Assets Measured on Recurring Basis (Details) - USD ($)
$ in Thousands
Jun. 30, 2023
Dec. 31, 2022
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities $ 25,445 $ 50,590
Cash Equivalents [Member] | Money market funds [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 4,765 2,266
Cash Equivalents [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   4,496
Cash Equivalents [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   3,032
Short-term marketable securities [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 5,171 15,587
Short-term marketable securities [Member] | U.S. government treasuries [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 2,953 1,005
Short-term marketable securities [Member] | U.S. government agency securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 10,463 16,069
Short-term marketable securities [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 2,093 8,135
Level 1 [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 7,718 3,271
Level 1 [Member] | Cash Equivalents [Member] | Money market funds [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 4,765 2,266
Level 1 [Member] | Cash Equivalents [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   0
Level 1 [Member] | Cash Equivalents [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   0
Level 1 [Member] | Short-term marketable securities [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 1 [Member] | Short-term marketable securities [Member] | U.S. government treasuries [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 2,953 1,005
Level 1 [Member] | Short-term marketable securities [Member] | U.S. government agency securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 1 [Member] | Short-term marketable securities [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 2 [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 17,727 47,319
Level 2 [Member] | Cash Equivalents [Member] | Money market funds [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 2 [Member] | Cash Equivalents [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   4,496
Level 2 [Member] | Cash Equivalents [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   3,032
Level 2 [Member] | Short-term marketable securities [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 5,171 15,587
Level 2 [Member] | Short-term marketable securities [Member] | U.S. government treasuries [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 2 [Member] | Short-term marketable securities [Member] | U.S. government agency securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 10,463 16,069
Level 2 [Member] | Short-term marketable securities [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 2,093 8,135
Level 3 [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 3 [Member] | Cash Equivalents [Member] | Money market funds [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 3 [Member] | Cash Equivalents [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   0
Level 3 [Member] | Cash Equivalents [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities   0
Level 3 [Member] | Short-term marketable securities [Member] | Commercial paper [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 3 [Member] | Short-term marketable securities [Member] | U.S. government treasuries [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 3 [Member] | Short-term marketable securities [Member] | U.S. government agency securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities 0 0
Level 3 [Member] | Short-term marketable securities [Member] | Corporate debt securities [Member]    
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]    
Total cash equivalents and marketable securities $ 0 $ 0