Income Taxes - Summary of Valuation Allowance (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Valuation Allowance [Roll Forward]
Beginning balance	$ 41,250	$ 37,143	$ 32,602
Charges to income tax expense	4,814	4,392	4,707
Release of valuation allowance	(360)	(285)	(166)
Ending balance	$ 45,704	$ 41,250	$ 37,143

Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-2

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Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	instant