Fair Value Measurements - Summary of Financial Assets Fair Value Measurement on Recurring Basis (Details) - Fair Value Measurements Recurring - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost	$ 81,815	$ 82,585
Unrealized Gain	4	6
Unrealized Loss	(123)	(380)
Estimated Fair Value	81,696	82,211
Cash and cash Equivalents | Level 1 | Money Market Funds
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost	27,250	10,152
Estimated Fair Value	27,250	10,152
Short-term investments | Level 1 | U.S. Treasury Securities
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost	3,726	29,381
Unrealized Loss	(17)	(213)
Estimated Fair Value	3,709	29,168
Short-term investments | Level 2 | U.S. Government Agency Securities
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost	27,012	12,126
Unrealized Gain	3	4
Unrealized Loss	(60)	(79)
Estimated Fair Value	26,955	12,051
Short-term investments | Level 2 | Commercial Paper
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost	21,900	27,701
Unrealized Gain	1	2
Unrealized Loss	(40)	(82)
Estimated Fair Value	21,861	27,621
Short-term investments | Level 2 | Asset-backed Securities
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost	1,927
Unrealized Loss	(6)
Estimated Fair Value	$ 1,921
Long-term investments | Level 1 | U.S. Treasury Securities
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost		1,224
Unrealized Loss		(1)
Estimated Fair Value		1,223
Long-term investments | Level 2 | U.S. Government Agency Securities
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Amortized Cost		2,001
Unrealized Loss		(5)
Estimated Fair Value		$ 1,996