Fair Value Measurements - Financial Assets and Liabilities Measured on a Recurring Basis (Details) - Recurring - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Assets:
Assets, fair value	$ 122,387	$ 112,082
Liabilities:
Liabilities, fair value	1,726	1,656
Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	1,726	1,656
Money market funds
Assets:
Assets, fair value	84,501	84,313
Commercial paper
Assets:
Assets, fair value	23,333	25,291
Corporate bonds
Assets:
Assets, fair value		999
U.S. government-sponsored agency bonds
Assets:
Assets, fair value	12,620	1,479
Asset-backed securities
Assets:
Assets, fair value	1,933
Level 1
Assets:
Assets, fair value	84,501	84,313
Liabilities:
Liabilities, fair value	0	0
Level 1 | Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	0	0
Level 1 | Money market funds
Assets:
Assets, fair value	84,501	84,313
Level 1 | Commercial paper
Assets:
Assets, fair value	0	0
Level 1 | Corporate bonds
Assets:
Assets, fair value		0
Level 1 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	0	0
Level 1 | Asset-backed securities
Assets:
Assets, fair value	0
Level 2
Assets:
Assets, fair value	37,886	27,769
Liabilities:
Liabilities, fair value	0	0
Level 2 | Derivative liabilities for exit fees
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	23,333	25,291
Level 2 | Corporate bonds
Assets:
Assets, fair value		999
Level 2 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	12,620	1,479
Level 2 | Asset-backed securities
Assets:
Assets, fair value	1,933
Level 3
Assets:
Assets, fair value	0	0
Liabilities:
Liabilities, fair value	1,726	1,656
Level 3 | Derivative liabilities for exit fees
Liabilities:
Liabilities, fair value	1,726	1,656
Level 3 | Money market funds
Assets:
Assets, fair value	0	0
Level 3 | Commercial paper
Assets:
Assets, fair value	0	0
Level 3 | Corporate bonds
Assets:
Assets, fair value		0
Level 3 | U.S. government-sponsored agency bonds
Assets:
Assets, fair value	0	$ 0
Level 3 | Asset-backed securities
Assets:
Assets, fair value	$ 0