Income Taxes - Schedule of Changes in Tax Reserve (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Reserve [Roll Forward]
Beginning balance	$ 4,650	$ 4,293
Gross increase - tax position in current period	273	357
Ending balance	$ 4,923	$ 4,650