Fair Value of Financial Assets and Liabilities - By Type of Security (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Marketable securities:
Book Value	$ 142,108	$ 185,436
Gross Unrealized Gain	160	4
Gross Unrealized Loss	(269)	(904)
Fair Value	141,999	184,536
Corporate debt securities
Marketable securities:
Book Value	52,362	40,626
Gross Unrealized Gain	65
Gross Unrealized Loss	(142)	(251)
Fair Value	52,285	40,375
Debt securities, maturity dates between one and five years	$ 28,000	$ 4,800
Corporate debt securities | Minimum
Marketable securities:
Marketable securities maturity period	1 year	1 year
Corporate debt securities | Maximum
Marketable securities:
Marketable securities maturity period	2 years	5 years
Commercial paper
Marketable securities:
Book Value	$ 12,345	$ 79,598
Gross Unrealized Gain	2
Gross Unrealized Loss	(1)
Fair Value	12,346	79,598
Asset-backed securities
Marketable securities:
Book Value	10,953	14,641
Gross Unrealized Gain	42	4
Gross Unrealized Loss	(30)	(123)
Fair Value	10,965	14,522
Debt securities, maturity dates between one and five years	$ 6,200	$ 2,400
Asset-backed securities | Minimum
Marketable securities:
Marketable securities maturity period	1 year	1 year
Asset-backed securities | Maximum
Marketable securities:
Marketable securities maturity period	3 years	5 years
Foreign government agency debt securities
Marketable securities:
Book Value	$ 4,698
Gross Unrealized Gain	43
Fair Value	4,741
Debt securities, maturity dates between one and five years	$ 4,700
Foreign government agency debt securities | Minimum
Marketable securities:
Marketable securities maturity period	1 year
Foreign government agency debt securities | Maximum
Marketable securities:
Marketable securities maturity period	2 years
U.S. government and agency debt securities
Marketable securities:
Book Value	$ 61,750	$ 50,571
Gross Unrealized Gain	8
Gross Unrealized Loss	(96)	(530)
Fair Value	61,662	50,041
Debt securities, maturity dates between one and five years	$ 23,900	$ 5,000
U.S. government and agency debt securities | Minimum
Marketable securities:
Marketable securities maturity period	1 year	1 year
U.S. government and agency debt securities | Maximum
Marketable securities:
Marketable securities maturity period	2 years	5 years