Other Financial Information - Schedule of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Other Financial Information [Abstract]
Cash and cash equivalents	$ 68,098	$ 56,354	$ 74,358
Restricted cash, non-current (included in other assets, non-current)	127	104	103
Total cash, cash equivalents and restricted cash	$ 68,225	$ 56,458	$ 74,461	$ 94,358