Financial Instruments - Unrealized Losses for Investments in a Continuous Unrealized Loss Position (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]
Less than 12 months, fair value	$ 10,509	$ 21,554
12 months or greater, fair value	52,123	74,205
Fair value	62,632	95,759
Less than 12 months, unrealized loss	(86)	(639)
12 months or greater, unrealized loss	(1,392)	(2,992)
Unrealized loss	(1,478)	(3,631)
Corporate bonds
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]
Less than 12 months, fair value	2,509	10,639
12 months or greater, fair value	40,608	54,634
Fair value	43,117	65,273
Less than 12 months, unrealized loss	(11)	(440)
12 months or greater, unrealized loss	(1,149)	(2,475)
Unrealized loss	(1,160)	(2,915)
U.S. government treasury bonds
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]
Less than 12 months, fair value	1,995	5,262
12 months or greater, fair value	9,163	14,748
Fair value	11,158	20,010
Less than 12 months, unrealized loss	(43)	(177)
12 months or greater, unrealized loss	(192)	(372)
Unrealized loss	(235)	(549)
Asset-backed securities
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]
Less than 12 months, fair value	1,975	2,636
12 months or greater, fair value	495	1,275
Fair value	2,470	3,911
Less than 12 months, unrealized loss	(4)	(17)
12 months or greater, unrealized loss	(3)	(20)
Unrealized loss	(7)	(37)
Municipal bonds
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]
Less than 12 months, fair value	0	0
12 months or greater, fair value	691	2,412
Fair value	691	2,412
Less than 12 months, unrealized loss	0	0
12 months or greater, unrealized loss	(10)	(61)
Unrealized loss	(10)	(61)
U.S. government agency bonds
Debt Securities, Available-for-Sale, Unrealized Loss Position [Line Items]
Less than 12 months, fair value	4,030	3,017
12 months or greater, fair value	1,166	1,136
Fair value	5,196	4,153
Less than 12 months, unrealized loss	(28)	(5)
12 months or greater, unrealized loss	(38)	(64)
Unrealized loss	$ (66)	$ (69)