Fair Value of Financial Instruments - Financial Assets Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Securities, Available-for-Sale [Line Items]
Fair Value	$ 215,822	$ 274,258
Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	215,566	275,103
Unrealized Gains	328	41
Unrealized Losses	(72)	(886)
Fair Value	215,822	274,258
Money Market Funds \| Level 1 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	15,591	36,690
Fair Value	15,591	36,690
Corporate Debt Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	4,489
Unrealized Gains	1
Fair Value	4,490
U.S. Government Agency Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost		3,484
Fair Value		3,484
Short Term Investment U.S. Treasury Securities \| Level 1 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	74,790	73,058
Unrealized Gains	80	3
Unrealized Losses	(20)	(438)
Fair Value	74,850	72,623
Short Term Investment U.S. Government Agency Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	28,215	16,227
Unrealized Gains		36
Unrealized Losses	(38)
Fair Value	28,177	16,263
Short Term Investment Corporate Debt Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	21,881	56,318
Unrealized Gains	24
Unrealized Losses	(3)	(367)
Fair Value	21,902	55,951
Short Term Investment Commercial Paper \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	34,967	62,087
Unrealized Gains	22
Unrealized Losses	(9)
Fair Value	34,980	62,087
Short Term Investment Asset-Backed Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	423	10,512
Unrealized Losses	(2)	(51)
Fair Value	421	10,461
Long Term Investment U.S. Treasury Securities \| Level 1 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	14,737	5,242
Unrealized Gains	75	2
Fair Value	14,812	5,244
Long-term Investment U.S. Government Agency Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	3,009	9,760
Unrealized Gains	31
Unrealized Losses		(15)
Fair Value	3,040	9,745
Long Term Investment Asset-Backed Securities \| Level 2 \| Fair Value on Recurring Basis
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	17,464	1,725
Unrealized Gains	95
Unrealized Losses		(15)
Fair Value	$ 17,559	$ 1,710

Amount, before tax, of unrealized gain in accumulated other comprehensive income (AOCI) on investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale).

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Amount, before tax, of unrealized loss in accumulated other comprehensive income (AOCI) on investment in debt security measured at fair value with change in fair value recognized in other comprehensive income (available-for-sale).

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