Income Taxes - Reconciliation of the Balance of Total Gross 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]
Unrecognized tax benefits - Beginning of period	$ 29,634	$ 20,100	$ 11,269
Increases related to current year’s tax positions	8,465	9,233	8,223
(Decreases) increases related to prior years’ tax positions	(1,153)	301	608
Unrecognized tax benefits - End of period	$ 36,946	$ 29,634	$ 20,100