Fair Value Measurements and Fair Value of Financial Instruments - Schedule of Fair Value, Assets Measured on Recurring Basis (Details) - Fair Value, Recurring - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	$ 33,984	$ 53,208
Total investments	344,425	373,188
Total assets measured at fair value	378,409	426,396
Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	33,984	53,208
U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	246,652	227,692
U.S. Non-Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	22,741	10,702
Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	25,505	55,433
Corporate debt securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	49,527	79,361
Level 1
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	33,984	53,208
Total investments	0	0
Total assets measured at fair value	33,984	53,208
Level 1 | Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total cash equivalents	33,984	53,208
Level 1 | U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
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	0	0
Total investments	344,425	373,188
Total assets measured at fair value	344,425	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 investments	246,652	227,692
Level 2 | U.S. Non-Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	22,741	10,702
Level 2 | Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	25,505	55,433
Level 2 | Corporate debt securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Total investments	49,527	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 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