Leases - Schedule of Components of Lease Expense (Details) - USD ($) $ in Thousands		12 Months Ended
		Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease, Cost [Abstract]
Operating lease expense		$ 4,904	$ 6,089	$ 6,383
Short-term lease expense	[1]	545	638	832
Total		5,449	6,727	7,215
Less: Sublease income		(247)	(155)	(61)
Total lease expense		$ 5,202	$ 6,572	$ 7,154

[1] Short-term lease expense includes all leases with lease terms ranging from less than one month to one year.