Fair Value Measurements - Financial Assets and Liabilities Measured on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Assets:
Assets, fair value	$ 112,082	$ 115,436
Liabilities:
Liabilities, fair value	1,656	698
Money market funds
Assets:
Assets, fair value	84,313	71,175
Commercial paper
Assets:
Assets, fair value	25,291	31,935
U.S. government-sponsored agency bonds
Assets:
Assets, fair value	1,479
Corporate bonds
Assets:
Assets, fair value	999	7,022
Asset backed securities
Assets:
Assets, fair value		5,304
Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	1,656	698
Level 1
Assets:
Assets, fair value	84,313	71,175
Liabilities:
Liabilities, fair value	0	0
Level 1 | Money market funds
Assets:
Assets, fair value	84,313	71,175
Level 1 | Commercial paper
Assets:
Assets, fair value	0	0
Level 1 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	0
Level 1 | Corporate bonds
Assets:
Assets, fair value	0	0
Level 1 | Asset backed securities
Assets:
Assets, fair value		0
Level 1 | Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	0	0
Level 2
Assets:
Assets, fair value	27,769	44,261
Liabilities:
Liabilities, fair value	0	0
Level 2 | Money market funds
Assets:
Assets, fair value	0	0
Level 2 | Commercial paper
Assets:
Assets, fair value	25,291	31,935
Level 2 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	1,479
Level 2 | Corporate bonds
Assets:
Assets, fair value	999	7,022
Level 2 | Asset backed securities
Assets:
Assets, fair value		5,304
Level 2 | Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	0	0
Level 3
Assets:
Assets, fair value	0	0
Liabilities:
Liabilities, fair value	1,656	698
Level 3 | Money market funds
Assets:
Assets, fair value	0	0
Level 3 | Commercial paper
Assets:
Assets, fair value	0	0
Level 3 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	0
Level 3 | Corporate bonds
Assets:
Assets, fair value	0	0
Level 3 | Asset backed securities
Assets:
Assets, fair value		0
Level 3 | Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	$ 1,656	$ 698