Fair Value Measurements and Fair Value of Financial Instruments - Financial Assets Measured at Fair Value On a Recurring Basis (Details) - Fair Value, Recurring - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	$ 48,386	$ 53,208
Total investments	362,124	373,188
Total assets measured at fair value	410,510	426,396
Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	41,906	53,208
U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	6,480
Total investments	223,594	227,692
U.S. Non-Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	16,841	10,702
Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	58,300	55,433
Corporate debt securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	63,389	79,361
Level 1
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	41,906	53,208
Total investments	0	0
Total assets measured at fair value	41,906	53,208
Level 1 | Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	41,906	53,208
Level 1 | U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	0
Total investments	0	0
Level 1 | U.S. Non-Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	0	0
Level 1 | Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	0	0
Level 1 | Corporate debt securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	0	0
Level 2
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	6,480	0
Total investments	362,124	373,188
Total assets measured at fair value	368,604	373,188
Level 2 | Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	0	0
Level 2 | U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	6,480
Total investments	223,594	227,692
Level 2 | U.S. Non-Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	16,841	10,702
Level 2 | Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	58,300	55,433
Level 2 | Corporate debt securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	63,389	79,361
Level 3
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	0	0
Total investments	0	0
Total assets measured at fair value	0	0
Level 3 | Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	0	0
Level 3 | U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	0
Total investments	0	0
Level 3 | U.S. Non-Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	0	0
Level 3 | Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	0	0
Level 3 | Corporate debt securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	$ 0	$ 0