Investments - Schedule of Available-for-Sale Marketable Securities (Details) - USD ($) $ in Thousands	9 Months Ended	12 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, Current	$ 21,799	$ 43,313
Gross Unrealized Gains, Current	1	7
Gross Unrealized Losses, Current	6	60
Available-for-sale securities, current portion	21,794	43,260
Amortized Cost, Noncurrent	1,158
Available-for-sale securities, long-term	1,156	1,332
Total marketable securities, Amortized Cost	22,957	44,642
Total marketable securities, Gross Unrealized Gains	3	10
Total marketable securities, Gross Unrealized Losses	10	60
Total marketable securities, Estimated Fair Value	22,950	44,592
Due in one year or less, Amortized Cost	21,799	43,313
Due in one year or less, Estimated Fair Value	21,794	43,260
Due after one year through five years, Amortized Cost	1,158
Due after one year through five years, Estimated Fair Value	1,156
Total, Amortized Cost	22,957	44,642
U.S. government securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, Current	5,030	15,087
Gross Unrealized Gains, Current	0	1
Gross Unrealized Losses, Current	2	37
Available-for-sale securities, current portion	5,028	15,051
Due in one year or less, Amortized Cost	5,030	15,087
Due in one year or less, Estimated Fair Value	5,028	15,051
Corporate debt securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, Current	15,901	26,057
Gross Unrealized Gains, Current	1	6
Gross Unrealized Losses, Current	4	16
Available-for-sale securities, current portion	15,898	26,047
Due in one year or less, Amortized Cost	15,901	26,057
Due in one year or less, Estimated Fair Value	15,898	26,047
Other debt securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, Current	868	2,169
Gross Unrealized Gains, Current	0	0
Gross Unrealized Losses, Current	0	7
Available-for-sale securities, current portion	868	2,162
Amortized Cost, Noncurrent	1,158	1,329
Gross Unrealized Gains, Noncurrent	2	3
Gross Unrealized Losses, Noncurrent	4	0
Available-for-sale securities, long-term	1,156	1,332
Due in one year or less, Amortized Cost	868	2,169
Due in one year or less, Estimated Fair Value	868	2,162
Due after one year through five years, Amortized Cost	$ 1,158	$ 1,329