Other Accrued Expenses - Schedule of Other Accrued Expenses (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accrued expenses:
Accrued compensation	$ 5,484	$ 6,228
Accrued restructuring charges	0	599	$ 0
Accrued professional fees and other	260	490
Total accrued expenses	$ 5,744	$ 7,317