Marketable Securities - Short-Term and Long-Term Marketable Securities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Debt Securities, Available-for-Sale [Line Items]
Cost	$ 20,439	$ 27,434
Unrealized Gains	0	0
Unrealized Losses	(307)	(402)
Fair Value	20,132	27,032
U.S. government agency securities
Debt Securities, Available-for-Sale [Line Items]
Cost	15,803	16,798
Unrealized Gains	0	0
Unrealized Losses	(244)	(278)
Fair Value	15,559	16,520
Corporate debt securities
Debt Securities, Available-for-Sale [Line Items]
Cost		2,511
Unrealized Gains		0
Unrealized Losses		(19)
Fair Value		2,492
U.S. municipal securities
Debt Securities, Available-for-Sale [Line Items]
Cost	4,636	7,876
Unrealized Gains	0	0
Unrealized Losses	(63)	(105)
Fair Value	$ 4,573	7,771
Certificates of deposit/time deposits
Debt Securities, Available-for-Sale [Line Items]
Cost		249
Unrealized Gains		0
Unrealized Losses		0
Fair Value		$ 249