Fair Value Measurement - Summary of Fair Value Assets Measured on Recurring Basis (Details) - USD ($) $ in Thousands | Mar. 31, 2023 | Dec. 31, 2022 |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | $ 36,587 | $ 50,590 |
Cash Equivalents [Member] | Money market funds [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 1,308 | 2,266 |
Cash Equivalents [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 4,496 |
Cash Equivalents [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 3,032 |
Short-term marketable securities [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 10,086 | 15,587 |
Short-term marketable securities [Member] | U.S. government treasuries [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 1,005 |
Short-term marketable securities [Member] | U.S. government agency securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 15,892 | 16,069 |
Short-term marketable securities [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 9,301 | 8,135 |
Level 1 [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 1,308 | 3,271 |
Level 1 [Member] | Cash Equivalents [Member] | Money market funds [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 1,308 | 2,266 |
Level 1 [Member] | Cash Equivalents [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 0 |
Level 1 [Member] | Cash Equivalents [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 0 |
Level 1 [Member] | Short-term marketable securities [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 1 [Member] | Short-term marketable securities [Member] | U.S. government treasuries [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 1,005 |
Level 1 [Member] | Short-term marketable securities [Member] | U.S. government agency securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 1 [Member] | Short-term marketable securities [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 2 [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 35,279 | 47,319 |
Level 2 [Member] | Cash Equivalents [Member] | Money market funds [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 2 [Member] | Cash Equivalents [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 4,496 |
Level 2 [Member] | Cash Equivalents [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 3,032 |
Level 2 [Member] | Short-term marketable securities [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 10,086 | 15,587 |
Level 2 [Member] | Short-term marketable securities [Member] | U.S. government treasuries [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 0 |
Level 2 [Member] | Short-term marketable securities [Member] | U.S. government agency securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 15,892 | 16,069 |
Level 2 [Member] | Short-term marketable securities [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 9,301 | 8,135 |
Level 3 [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 3 [Member] | Cash Equivalents [Member] | Money market funds [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 3 [Member] | Cash Equivalents [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 0 |
Level 3 [Member] | Cash Equivalents [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 0 |
Level 3 [Member] | Short-term marketable securities [Member] | Commercial paper [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 3 [Member] | Short-term marketable securities [Member] | U.S. government treasuries [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | | 0 |
Level 3 [Member] | Short-term marketable securities [Member] | U.S. government agency securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | 0 | 0 |
Level 3 [Member] | Short-term marketable securities [Member] | Corporate debt securities [Member] | | |
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items] | | |
Total cash equivalents and marketable securities | $ 0 | $ 0 |