Commitments and Contingencies- Schedule of Lease Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Commitments and Contingencies Disclosure [Abstract]
Operating lease expense	$ 1,552	$ 1,599
Variable lease expense	465	461
Total lease expense	2,017	2,060
Cash paid for amounts included in the measurement of operating lease liabilities	1,632	1,600
Leased assets obtained in exchange for new operating lease liabilities	$ 143	$ 127
Weighted average remaining lease term (in years)	2 years 2 months 12 days	3 years 18 days
Weighted average discount rate	5.87%	5.77%