Marketable Securities - Summary of Fair Value of Available-for-sale Marketable Debt Securities by Type of Security (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	$ 41,637	$ 74,928
Gross Unrealized Gains	0	1
Gross Unrealized Losses	(221)	(1,016)
Fair Value	41,416	73,913
U.S. Treasury notes
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	13,433	50,080
Gross Unrealized Gains	0	1
Gross Unrealized Losses	(43)	(714)
Fair Value	13,390	49,367
U.S. government agency bonds
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	11,167	10,957
Gross Unrealized Gains	0	0
Gross Unrealized Losses	(75)	(184)
Fair Value	11,092	10,773
Corporate bonds
Debt Securities, Available-for-sale [Line Items]
Amortized Cost	17,037	13,891
Gross Unrealized Gains	0	0
Gross Unrealized Losses	(103)	(118)
Fair Value	$ 16,934	$ 13,773