Leases - Narrative (Details) ft² in Thousands, $ in Thousands		1 Months Ended	3 Months Ended
	Jan. 28, 2022 USD ($) ft² $ / ft² renewal_option	Jan. 31, 2022 USD ($)	Mar. 31, 2023 USD ($)	Mar. 31, 2022 USD ($)
Lessee, Lease, Description [Line Items]
Short-term lease costs (less than)			$ 100	$ 100
Operating lease expense			1,700	1,700
Finance lease expense (less than)			100	$ 100
25 Network Drive, Burlington, Massachusetts
Lessee, Lease, Description [Line Items]
Area of real estate property | ft²	126
Rent start date, term	13 months
Term of contract	144 months
Number of renewal options | renewal_option	1
Lease option to extend term	10 years
Annual lease per square foot | $ / ft²	57
Annual lease base rent square subject to increase percentage	2.50%
Tenant improvement allowance per square foot | $ / ft²	200
Tenant improvement allowance	$ 24,400
Letter of credit cash deposit		$ 6,000
Letter of credit cash deposit lease year three		4,200
Letter of credit cash deposit lease year six		$ 1,800
Minimum | 25 Network Drive, Burlington, Massachusetts
Lessee, Lease, Description [Line Items]
Monthly contractual lease payments	600
Minimum | Ann Arbor Michigan
Lessee, Lease, Description [Line Items]
Monthly contractual lease payments			17
Maximum | 25 Network Drive, Burlington, Massachusetts
Lessee, Lease, Description [Line Items]
Monthly contractual lease payments	$ 800
Maximum | Ann Arbor Michigan
Lessee, Lease, Description [Line Items]
Monthly contractual lease payments			$ 18