Cash, Cash Equivalents and Marketable Securities - Summary of Cash, Cash Equivalents and Marketable Securities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022	Mar. 31, 2022
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized Cost	$ 118,499	$ 115,450
Cash and cash equivalents, Unrealized Gains	5	3
Cash and cash equivalents, Unrealized Losses	(9)	(15)
Cash and cash equivalents, Estimated Fair Value	118,495	115,438
Marketable securities, Amortized Cost	239,945	271,913
Marketable securities, Unrealized Gains	73	8	$ 73
Marketable securities, Unrealized Losses	(1,135)	(2,045)	$ (1,135)
Marketable securities, Estimated Fair Value	238,883	269,876
Cash
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized Cost	5,649	15,724
Cash and cash equivalents, Estimated Fair Value	5,649	15,724
Money Market Funds
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized Cost	54,439	45,443
Cash and cash equivalents, Estimated Fair Value	54,439	45,443
Commercial Paper
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized Cost	39,190	41,972
Cash and cash equivalents, Unrealized Losses	(9)	(15)
Cash and cash equivalents, Estimated Fair Value	39,181	41,957
Marketable securities, Amortized Cost	51,990	69,630
Marketable securities, Unrealized Gains	39	2
Marketable securities, Unrealized Losses	(35)	(58)
Marketable securities, Estimated Fair Value	51,994	69,574
U.S. Government and Agency Securities
Cash And Cash Equivalents [Line Items]
Cash and cash equivalents, Amortized Cost	19,221	12,311
Cash and cash equivalents, Unrealized Gains	5	3
Cash and cash equivalents, Estimated Fair Value	19,226	12,314
Marketable securities, Amortized Cost	153,003	148,160
Marketable securities, Unrealized Gains	34	6
Marketable securities, Unrealized Losses	(799)	(1,461)
Marketable securities, Estimated Fair Value	152,238	146,705
Corporate Debt Securities
Cash And Cash Equivalents [Line Items]
Marketable securities, Amortized Cost	34,952	54,123
Marketable securities, Unrealized Losses	(301)	(526)
Marketable securities, Estimated Fair Value	$ 34,651	$ 53,597