Marketable Securities - Short-Term and Long-Term Marketable Securities (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Debt Securities, Available-for-Sale [Line Items]
Cost	$ 37,315	$ 51,366
Unrealized Gains	0	0
Unrealized Losses	(1,026)	(1,379)
Fair Value	36,289	49,987
U.S. municipal securities
Debt Securities, Available-for-Sale [Line Items]
Cost	12,229	15,574
Unrealized Gains	0	0
Unrealized Losses	(293)	(417)
Fair Value	11,936	15,157
Corporate debt securities
Debt Securities, Available-for-Sale [Line Items]
Cost	4,050	9,578
Unrealized Gains	0	0
Unrealized Losses	(93)	(205)
Fair Value	3,957	9,373
U.S. government agency securities
Debt Securities, Available-for-Sale [Line Items]
Cost	20,787	25,275
Unrealized Gains	0	0
Unrealized Losses	(637)	(750)
Fair Value	20,150	24,525
Certificates of deposit/time deposits
Debt Securities, Available-for-Sale [Line Items]
Cost	249	939
Unrealized Gains	0	0
Unrealized Losses	(3)	(7)
Fair Value	$ 246	$ 932