Investments - Schedule of Available-for-Sale Marketable Securities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, current portion	$ 15,590	$ 16,285
Gross unrealized Gains, current portion	1	7
Gross unrealized Losses, current portion	(12)	(4)
Available-for-sale securities, current portion	15,579	16,288
Amortized Cost, long term	823
Available-for-sale securities, long-term	822	548
Total	16,413	16,830
Total marketable securities, Gross Unrealized Gains	1	10
Total marketable securities, Gross Unrealized Losses	(13)	(4)
Estimated Fair Value, Total marketable securities	16,401	16,836
Amortized Cost
Due in one year or less	15,590	16,285
Due after one year through five years	823
Total	16,413	16,830
Estimated Fair Value
Due in one year or less	15,579	16,288
Due after one year through five years	822
Total	16,401	16,836
U.S. government securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, current portion	5,897	5,169
Gross unrealized Gains, current portion	0	1
Gross unrealized Losses, current portion	(6)	0
Available-for-sale securities, current portion	5,891	5,170
Amortized Cost
Due in one year or less	5,897	5,169
Estimated Fair Value
Due in one year or less	5,891	5,170
Corporate debt securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, current portion	7,851	9,673
Gross unrealized Gains, current portion	1	5
Gross unrealized Losses, current portion	(5)	(4)
Available-for-sale securities, current portion	7,847	9,674
Amortized Cost
Due in one year or less	7,851	9,673
Estimated Fair Value
Due in one year or less	7,847	9,674
Other debt securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost, current portion	1,842	1,443
Gross unrealized Gains, current portion	0	1
Gross unrealized Losses, current portion	(1)	0
Available-for-sale securities, current portion	1,841	1,444
Amortized Cost, long term	823	545
Gross unrealized Gains, long term	0	3
Gross unrealized losses, long term	(1)	0
Available-for-sale securities, long-term	822	548
Amortized Cost
Due in one year or less	1,842	1,443
Due after one year through five years	823	545
Estimated Fair Value
Due in one year or less	$ 1,841	$ 1,444