Commitments and Contingencies - Lease Cost (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease costs	$ 2,663	$ 2,084
Variable lease costs	702	940
Total rent expense	3,365	3,024
Amortization of right of use assets	204	219
Interest on lease liabilities	275	278
Variable lease costs	40	32
Total finance lease costs	519	529
Gross sublease income	(106)	(106)
Total lease costs	$ 3,778	$ 3,447