Fair Value Measurements and Fair Value of Financial Instruments - Schedule of Marketable Securities Classified as Available-for-sale Securities (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	$ 184,507	$ 244,505
Unrealized Gains	12	12
Unrealized Losses	(932)	(333)
Estimated Fair Value	183,587	244,184
Asset Backed Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	12,754	34,058
Unrealized Gains	11
Unrealized Losses	(99)	(18)
Estimated Fair Value	12,666	34,040
U.S. Treasury Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	54,747	39,985
Unrealized Gains	1
Unrealized Losses	(517)	(171)
Estimated Fair Value	54,231	39,814
Other Government Agency Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	5,009	5,068
Unrealized Losses	(29)	(22)
Estimated Fair Value	4,980	5,046
Commercial Paper
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	56,170	64,956
Estimated Fair Value	56,170	64,956
Corporate Debt Securities
Fair Value Assets And Liabilities Measured On Recurring And Nonrecurring Basis [Line Items]
Amortized Cost	55,827	100,438
Unrealized Gains		12
Unrealized Losses	(287)	(122)
Estimated Fair Value	$ 55,540	$ 100,328