Income Taxes - Components of Loss before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (12,682)	$ (30,297)	$ (90,584)
Foreign	(30,915)	(33,275)	(16,791)
Loss before income taxes	$ (43,597)	$ (63,572)	$ (107,375)