Fair Value of Financial Instruments - Schedule of Assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Assets:
Total assets at fair value	$ 62,299	$ 73,784
U.S. Treasury Securities
Assets:
Total assets at fair value	28,257	33,622
Commercial Paper and Corporate Bonds
Assets:
Total assets at fair value	29,602	40,162
U.S. Government Agency Bonds
Assets:
Total assets at fair value	4,440
Fair Value Measurements Recurring Basis
Assets:
Total cash equivalents at fair value	12,098	16,242
Total assets at fair value	74,397	90,026
Fair Value Measurements Recurring Basis | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total cash equivalents at fair value	12,098	12,253
Total assets at fair value	40,355	45,875
Fair Value Measurements Recurring Basis | Significant Other Observable Inputs (Level 2)
Assets:
Total cash equivalents at fair value		3,989
Total assets at fair value	34,042	44,151
Fair Value Measurements Recurring Basis | Short-Term Investments
Assets:
Total assets at fair value	62,299	73,784
Fair Value Measurements Recurring Basis | Short-Term Investments | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total assets at fair value	28,257	33,622
Fair Value Measurements Recurring Basis | Short-Term Investments | Significant Other Observable Inputs (Level 2)
Assets:
Total assets at fair value	34,042	40,162
Fair Value Measurements Recurring Basis | Money Market Funds
Assets:
Total cash equivalents at fair value	12,098	12,253
Fair Value Measurements Recurring Basis | Money Market Funds | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total cash equivalents at fair value	12,098	12,253
Fair Value Measurements Recurring Basis | Commercial Paper
Assets:
Total cash equivalents at fair value		1,998
Fair Value Measurements Recurring Basis | Commercial Paper | Significant Other Observable Inputs (Level 2)
Assets:
Total cash equivalents at fair value		1,998
Fair Value Measurements Recurring Basis | U.S. Treasury Securities | Short-Term Investments
Assets:
Total assets at fair value	28,257	33,622
Fair Value Measurements Recurring Basis | U.S. Treasury Securities | Short-Term Investments | Quoted Prices in Active Markets for Identical Assets (Level 1)
Assets:
Total assets at fair value	28,257	33,622
Fair Value Measurements Recurring Basis | Commercial Paper and Corporate Bonds | Short-Term Investments
Assets:
Total assets at fair value	29,602	40,162
Fair Value Measurements Recurring Basis | Commercial Paper and Corporate Bonds | Short-Term Investments | Significant Other Observable Inputs (Level 2)
Assets:
Total assets at fair value	29,602	40,162
Fair Value Measurements Recurring Basis | U.S. Government Agency Bonds
Assets:
Total cash equivalents at fair value		1,991
Fair Value Measurements Recurring Basis | U.S. Government Agency Bonds | Significant Other Observable Inputs (Level 2)
Assets:
Total cash equivalents at fair value		$ 1,991
Fair Value Measurements Recurring Basis | U.S. Government Agency Bonds | Short-Term Investments
Assets:
Total assets at fair value	4,440
Fair Value Measurements Recurring Basis | U.S. Government Agency Bonds | Short-Term Investments | Significant Other Observable Inputs (Level 2)
Assets:
Total assets at fair value	$ 4,440