Income Taxes - Uncertain Income Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Uncertain income tax positions [Roll Forward]
Balance at beginning of the year	$ 2,944	$ 2,655
Increases related to tax positions taken prior to current year	(726)	(12)
Increases related to current year's tax positions	411	301
Balance at end of the year	$ 2,629	$ 2,944