Fair Value Measurements (Details) - Recurring [Member] - USD ($) $ in Thousands | Sep. 30, 2023 | Dec. 31, 2022 |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | $ 172,531 | $ 239,614 |
Money Market Funds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 43,855 | 28,261 |
Corporate Debt Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 9,524 | 24,900 |
Commercial Paper [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 45,821 | 41,243 |
U.S. Treasury Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 49,183 | 118,556 |
U.S. Agency Bonds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 9,938 | 8,779 |
Asset-backed Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 14,210 | 17,875 |
Level 1 [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 43,855 | 28,261 |
Level 1 [Member] | Money Market Funds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 43,855 | 28,261 |
Level 1 [Member] | Corporate Debt Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 1 [Member] | Commercial Paper [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 1 [Member] | U.S. Treasury Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 1 [Member] | U.S. Agency Bonds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 1 [Member] | Asset-backed Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 2 [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 128,676 | 211,353 |
Level 2 [Member] | Money Market Funds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 2 [Member] | Corporate Debt Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 9,524 | 24,900 |
Level 2 [Member] | Commercial Paper [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 45,821 | 41,243 |
Level 2 [Member] | U.S. Treasury Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 49,183 | 118,556 |
Level 2 [Member] | U.S. Agency Bonds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 9,938 | 8,779 |
Level 2 [Member] | Asset-backed Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 14,210 | 17,875 |
Level 3 [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 3 [Member] | Money Market Funds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 3 [Member] | Corporate Debt Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 3 [Member] | Commercial Paper [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 3 [Member] | U.S. Treasury Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 3 [Member] | U.S. Agency Bonds [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | 0 | 0 |
Level 3 [Member] | Asset-backed Securities [Member] | | |
Assets, Fair Value Disclosure [Abstract] | | |
Total cash equivalents and investments | $ 0 | $ 0 |