Marketable Securities - Short-Term and Long-Term Marketable Securities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Debt Securities, Available-for-Sale [Line Items]
Cost	$ 32,201	$ 51,366
Unrealized Gains	0	0
Unrealized Losses	(785)	(1,379)
Fair Value	31,416	49,987
U.S. municipal securities
Debt Securities, Available-for-Sale [Line Items]
Cost	8,629	15,574
Unrealized Gains	0	0
Unrealized Losses	(209)	(417)
Fair Value	8,420	15,157
Corporate debt securities
Debt Securities, Available-for-Sale [Line Items]
Cost	2,530	9,578
Unrealized Gains	0	0
Unrealized Losses	(54)	(205)
Fair Value	2,476	9,373
U.S. government agency securities
Debt Securities, Available-for-Sale [Line Items]
Cost	20,793	25,275
Unrealized Gains	0	0
Unrealized Losses	(520)	(750)
Fair Value	20,273	24,525
Certificates of deposit/time deposits
Debt Securities, Available-for-Sale [Line Items]
Cost	249	939
Unrealized Gains	0	0
Unrealized Losses	(2)	(7)
Fair Value	$ 247	$ 932