Fair Value Measurements of Financial Instruments - Summary of Financial Instruments (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost	$ 55,361	$ 48,849
Gross Unrealized Gain	77	3
Gross Unrealized Loss	(54)	(188)
Estimated Fair Values	55,384	48,664
Certificate of Deposit
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost	3,633	4,007
Gross Unrealized Gain	1
Estimated Fair Values	3,634	4,007
Treasury bill
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost	37,624	3,983
Gross Unrealized Gain	76	1
Estimated Fair Values	37,700	3,984
Money Market Funds
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost		2,183
Estimated Fair Values		2,183
Commercial Paper
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost		13,631
Gross Unrealized Loss		(20)
Estimated Fair Values		13,611
Government Agency Bonds
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost	2,600	3,391
Gross Unrealized Gain		1
Gross Unrealized Loss	(3)	(19)
Estimated Fair Values	2,597	3,373
Corporate Bonds
Schedule Of Available For Sale Securities [Line Items]
Amortized Cost	11,504	21,654
Gross Unrealized Gain		1
Gross Unrealized Loss	(51)	(149)
Estimated Fair Values	11,453	21,506
Cash and Cash Equivalents
Schedule Of Available For Sale Securities [Line Items]
Estimated Fair Values	3,096	13,638
Short-term Investments
Schedule Of Available For Sale Securities [Line Items]
Estimated Fair Values	51,788	25,289
Long-term investments
Schedule Of Available For Sale Securities [Line Items]
Estimated Fair Values	$ 500	$ 9,737