Marketable Securities - Short-Term and Long-Term Marketable Securities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	$ 27,434	$ 51,366
Unrealized Gains	0	0
Unrealized Losses	(402)	(1,379)
Fair Value	27,032	49,987
U.S. government agency securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	16,798	25,275
Unrealized Gains	0	0
Unrealized Losses	(278)	(750)
Fair Value	16,520	24,525
Corporate debt securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	2,511	9,578
Unrealized Gains	0	0
Unrealized Losses	(19)	(205)
Fair Value	2,492	9,373
U.S. municipal securities
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	7,876	15,574
Unrealized Gains	0	0
Unrealized Losses	(105)	(417)
Fair Value	7,771	15,157
Certificates of deposit/time deposits
Debt Securities, Available-for-Sale [Line Items]
Amortized Cost	249	939
Unrealized Gains	0	0
Unrealized Losses	0	(7)
Fair Value	$ 249	$ 932