Income Taxes - Net Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
United States	$ (22,844)	$ (22,651)	$ (20,986)
Foreign	159	150	44
Net loss before income taxes	$ (22,685)	$ (22,501)	$ (20,942)