Investments and Fair Value Measurements - Available-for-sale securities (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Available for sale securities:
Amortized Cost	$ 75,380	$ 89,125
Gross Unrealized Gains		4
Gross Unrealized Losses	(41)	(69)
Estimated Fair Value	75,339	89,060
Debt Securities, Available-for-sale, Unrealized Gain (Loss) [Abstract]
Estimated Fair Value lesser than 12 months	49,271	57,880
Fair value of assets transferred from Level 1 to Level 2	0
Fair value of assets transferred from Level 2 to Level 1	0
Estimated Fair Value Total	49,271	57,880
Gross unrealized lesser than 12 months	(41)	(69)
Gross unrealized loss, Total	(41)	(69)
Marketable securities
Available for sale securities:
Amortized Cost	61,109	62,946
Gross Unrealized Gains		4
Gross Unrealized Losses	(41)	(69)
Estimated Fair Value	61,068	62,881
U.S. government securities
Debt Securities, Available-for-sale, Unrealized Gain (Loss) [Abstract]
Estimated Fair Value lesser than 12 months	10,431	29,819
Estimated Fair Value Total	10,431	29,819
Gross unrealized lesser than 12 months	(3)	(29)
Gross unrealized loss, Total	(3)	(29)
U.S. government securities | Quoted Prices in Active Markets for Identical Assets, Level 1
Available for sale securities:
Amortized Cost	22,231	29,848
Gross Unrealized Losses	(3)	(29)
Estimated Fair Value	22,228	29,819
U.S. corporate notes
Debt Securities, Available-for-sale, Unrealized Gain (Loss) [Abstract]
Estimated Fair Value lesser than 12 months	11,195	23,641
Estimated Fair Value Total	11,195	23,641
Gross unrealized lesser than 12 months	(16)	(32)
Gross unrealized loss, Total	(16)	(32)
U.S. corporate notes | Significant Other Observable Inputs, Level 2
Available for sale securities:
Amortized Cost	11,211	28,670
Gross Unrealized Gains		4
Gross Unrealized Losses	(16)	(32)
Estimated Fair Value	11,195	28,642
U.S. commercial paper
Debt Securities, Available-for-sale, Unrealized Gain (Loss) [Abstract]
Estimated Fair Value lesser than 12 months	24,680
Estimated Fair Value Total	24,680
Gross unrealized lesser than 12 months	(19)
Gross unrealized loss, Total	(19)
U.S. commercial paper | Significant Other Observable Inputs, Level 2
Available for sale securities:
Amortized Cost	24,698
Gross Unrealized Losses	(19)
Estimated Fair Value	24,679
U.S. government agency securities
Debt Securities, Available-for-sale, Unrealized Gain (Loss) [Abstract]
Estimated Fair Value lesser than 12 months	2,965	4,420
Estimated Fair Value Total	2,965	4,420
Gross unrealized lesser than 12 months	(3)	(8)
Gross unrealized loss, Total	(3)	(8)
U.S. government agency securities | Significant Other Observable Inputs, Level 2
Available for sale securities:
Amortized Cost	2,969	4,428
Gross Unrealized Losses	(3)	(8)
Estimated Fair Value	2,966	4,420
Money market funds | Quoted Prices in Active Markets for Identical Assets, Level 1
Available for sale securities:
Amortized Cost	14,271	26,179
Estimated Fair Value	$ 14,271	$ 26,179