Income Taxes - Unrecognized Income Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Gross unrecognized income tax benefits — beginning balance	$ 4,303	$ 2,364	$ 3,208
Increases related to tax positions taken during the current year	1,104	1,788	649
Increases related to tax positions taken during the prior years	0	386	0
Decreases related to tax positions taken during the prior years	(1,026)	(235)	(1,493)
Gross unrecognized income tax benefits — ending balance	$ 4,381	$ 4,303	$ 2,364