Fair Value Measurements - Schedule of Cash and Cash Equivalents and Marketable Securities Classified as Available-for-sale Securities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	$ 187,744	$ 261,182
Gross Unrealized Gain	3	58
Gross Unrealized Loss	(152)	(360)
Fair Value	187,595	260,880
Cash and cash equivalents
Debt Securities, Available-for-sale [Line Items]
Fair Value	47,322	62,844
Short-term Marketable Securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	140,422	198,338
Fair Value	140,273	198,036
U.S. treasury securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	63,861	89,039
Gross Unrealized Gain	0	7
Gross Unrealized Loss	(111)	(160)
Fair Value	63,750	88,886
Money market funds
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	47,322	62,844
Gross Unrealized Gain	0	0
Gross Unrealized Loss	0	0
Fair Value	47,322	62,844
Commercial paper
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	28,876	42,746
Gross Unrealized Gain	0	0
Gross Unrealized Loss	0	0
Fair Value	28,876	42,746
U.S. government agency securities
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	27,634	20,253
Gross Unrealized Gain	3	51
Gross Unrealized Loss	(11)	0
Fair Value	27,626	20,304
Corporate and agency bonds
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	20,051	46,300
Gross Unrealized Gain	0	0
Gross Unrealized Loss	(30)	(200)
Fair Value	$ 20,021	$ 46,100