Income Taxes - Schedule of Valuation Allowance (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred Tax Assets, Valuation Allowance [Roll Forward]
Beginning balance	$ 1,699	$ 1,812	$ 8,262
Charges to costs and expenses	21	0	178
Write-offs and recoveries	0	(113)	(6,628)
Ending balance	$ 1,720	$ 1,699	$ 1,812