Income Taxes - Schedule of Changes in Unrecognized 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]
Beginning balance of unrecognized tax benefits	$ 1,067	$ 1,490	$ 748
Increases for current year tax positions		127	138
Increases (decreases) for prior year tax positions	32	(577)	577
Decreases due to settlements with taxing authorities	$ (1,099)
Ending balance (excluding interest and penalties)		1,040	1,463
Interest and penalties		27	27
Total		$ 1,067	$ 1,490