Convertible and Redeemable Series A-2 Preferred Stock - Additional Information (Details) - USD ($) $ / shares in Units, $ in Thousands		1 Months Ended	3 Months Ended
	Apr. 13, 2020	Jan. 31, 2024	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Dec. 31, 2022
Temporary Equity [Line Items]
Period between issuance and expiration of outstanding warrant	10 years
Proceeds from the Series A-2 and Warrant	$ 175,000
Preferred stock, dividends paid			$ 2,814	$ 4,100
Number of debt incurrence test ratio			4.5
Compound embedded derivative, change in net fair value			$ 297	(1,873)
Convertible And Redeemable Series A-2 Preferred Stock
Temporary Equity [Line Items]
Number of shares issued	17,500		11,667		17,500
Par value per share	$ 0.0001		$ 0.0001		$ 0.0001
Debt issuance costs, net	$ 1,300
Preferred stock, dividends paid			$ 2,800	4,100
Percentage of discount on common stock market price			15.00%
Percentage of dividend rate steps downs per year			9.00%
Percentage of dividend rate increase per annum in the event of noncompliance			12.00%
Number of days dividend increase rate applicable noncompliance event occurred			90 days
Percentage of dividend rate increase per annum upon noncompliance occurred and thereafter			14.00%
Minimum repayment amount			$ 25,000
Temporary equity description			The Company may, at its option on any one or more dates, redeem all or a minimum portion (the lesser of (i) $25.0 million in aggregate stated value of the Convertible and Redeemable Series A-2 Preferred Stock and (ii) all of the Convertible and Redeemable Series A-2 Preferred Stock then outstanding) of the outstanding Convertible and Redeemable Series A-2 Preferred Stock in cash. In January 2024, the Company redeemed $60 million of the outstanding Convertible and Redeemable Series A-2 Preferred Stock with cash. As of March 31, 2024, the aggregate amount of the Convertible and Redeemable Series A-2 Preferred Stock issued and outstanding was $122.2 million, or 11,667 shares.
Aggregate stated value of stock redeemed			$ 25,000
Redeemed outstanding amount			92,928	$ 152,928	$ 152,928	$ 152,928
Temporary equity, aggregate liquidation preference			122,200		182,200
Compound embedded derivative, fair value net			$ 19,000		$ 19,000
Redeemed in cash		$ 60,000
Number of shares outstanding			11,667	17,500	17,500	17,500
Convertible And Redeemable Series A-2 Preferred Stock | Other (Expense) Income
Temporary Equity [Line Items]
Compound embedded derivative, change in net fair value				$ 900
Convertible And Redeemable Series A-2 Preferred Stock | Maximum | Other (Expense) Income
Temporary Equity [Line Items]
Compound embedded derivative, change in net fair value			$ 100
Convertible And Redeemable Series A-2 Preferred Stock | 60-Day Period Prior to Seventh Anniversary
Temporary Equity [Line Items]
Temporary equity convertible into common stock			60,000
Convertible And Redeemable Series A-2 Preferred Stock | Year 5
Temporary Equity [Line Items]
Temporary equity convertible into common stock			60,000
Convertible And Redeemable Series A-2 Preferred Stock | Year 6
Temporary Equity [Line Items]
Temporary equity convertible into common stock			$ 120,000