Income Taxes - Summary of Geographical Breakdown of Income Before Provision for (Loss) Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Federal	$ (35,111)	$ (27,991)	$ (24,574)
Foreign	(3,272)	(1,578)	958
LOSS BEFORE (BENEFIT) EXPENSE FROM INCOME TAXES	$ (31,839)	$ (29,569)	$ (23,616)