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Fair Value Measurements and Financial Instruments - Schedule of Fair Value Hierarchy for Assets and Liabilities (Details) - Recurring Basis - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Assets:    
Assets, fair value $ 95,147 $ 113,098
Cash Equivalents    
Assets:    
Assets, fair value 44,336 46,223
Cash Equivalents | U.S. Government Securities    
Assets:    
Assets, fair value 4,988 1,997
Cash Equivalents | Corporate Bonds    
Assets:    
Assets, fair value   2,577
Marketable Securities    
Assets:    
Assets, fair value 49,884 65,948
Marketable Securities | U.S. Government Securities    
Assets:    
Assets, fair value 7,224 21,149
Marketable Securities | Corporate Bonds    
Assets:    
Assets, fair value 42,660 44,799
Money Market Funds | Cash Equivalents    
Assets:    
Assets, fair value 39,348 41,649
Level 1    
Assets:    
Assets, fair value 40,275 42,576
Level 1 | Cash Equivalents    
Assets:    
Assets, fair value 39,348 41,649
Level 1 | Money Market Funds | Cash Equivalents    
Assets:    
Assets, fair value 39,348 41,649
Level 2    
Assets:    
Assets, fair value 54,872 70,522
Level 2 | Cash Equivalents    
Assets:    
Assets, fair value 4,988 4,574
Level 2 | Cash Equivalents | U.S. Government Securities    
Assets:    
Assets, fair value 4,988 1,997
Level 2 | Cash Equivalents | Corporate Bonds    
Assets:    
Assets, fair value   2,577
Level 2 | Marketable Securities    
Assets:    
Assets, fair value 49,884 65,948
Level 2 | Marketable Securities | U.S. Government Securities    
Assets:    
Assets, fair value 7,224 21,149
Level 2 | Marketable Securities | Corporate Bonds    
Assets:    
Assets, fair value 42,660 44,799
Restricted Cash (Non-Current)    
Assets:    
Assets, fair value 927 927
Restricted Cash (Non-Current) | Level 1    
Assets:    
Assets, fair value $ 927 $ 927