Financial Instruments and Fair Value Measurements - Schedule of Financial Assets and Liabilities Measured at Fair Value (Details) - Recurring - USD ($) $ in Thousands	Sep. 30, 2021	Dec. 31, 2020
Assets:
Total assets	$ 159,464	$ 193,384
Level 1
Assets:
Total assets	132,940	161,416
Level 2
Assets:
Total assets	26,524	31,968
U.S. Treasury Securities
Assets:
Total assets	65,235	126,363
U.S. Treasury Securities | Level 1
Assets:
Total assets	65,235	126,363
Money Market Funds
Assets:
Total assets	67,705	35,053
Money Market Funds | Level 1
Assets:
Total assets	67,705	35,053
Commercial Paper
Assets:
Total assets	21,385	31,968
Commercial Paper | Level 2
Assets:
Total assets	21,385	$ 31,968
Corporate Bonds
Assets:
Total assets	5,139
Corporate Bonds | Level 2
Assets:
Total assets	$ 5,139