Financial Instruments - Summary of Financial assets and Liabilities Measured at Fair Value on Recurring Basis (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Cash	$ 17,980	$ 2,765
Adjusted Cost	327,397	445,534
Unrealized Losses	(3,585)	(524)
Debt Securities, Available-for-Sale	323,812	445,010
Cash and cash equivalents	67,420	66,810
Marketable Securities	256,392	378,200
Level 1 | Money market funds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	44,443	38,045
Debt Securities, Available-for-Sale	44,443	38,045
Cash and cash equivalents	44,443	38,045
Level 2
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	264,974	404,724
Unrealized Losses	(3,585)	(524)
Debt Securities, Available-for-Sale	261,389	404,200
Cash and cash equivalents	4,997	26,000
Marketable Securities	256,392	378,200
Level 2 | U.S. Government securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	65,493	45,982
Unrealized Losses	(1,518)	(66)
Debt Securities, Available-for-Sale	63,975	45,916
Marketable Securities	63,975	45,916
Level 2 | U.S. Treasury securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	14,953	80,500
Unrealized Losses	(111)	(7)
Debt Securities, Available-for-Sale	14,842	80,493
Cash and cash equivalents		26,000
Marketable Securities	14,842	54,493
Level 2 | Commercial paper
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	40,859	94,887
Unrealized Losses	(100)	(15)
Debt Securities, Available-for-Sale	40,759	94,872
Cash and cash equivalents	4,997
Marketable Securities	35,762	94,872
Level 2 | Corporate bonds
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost	143,669	182,338
Unrealized Losses	(1,856)	(435)
Debt Securities, Available-for-Sale	141,813	181,903
Marketable Securities	141,813	181,903
Level 2 | Municipal securities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Adjusted Cost		1,017
Unrealized Losses		(1)
Debt Securities, Available-for-Sale		1,016
Marketable Securities		1,016
Level 3
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Financial liabilities, Fair value	90	1,060
Level 3 | Warrant liabilities
Fair Value Measurement Inputs and Valuation Techniques [Line Items]
Financial liabilities, Adjusted cost	90	1,060
Financial liabilities, Fair value	$ 90	$ 1,060