Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Reconciliation of Uncertain Tax Positions [Roll Forward]
Gross unrecognized tax benefits as of January 1	$ 3,721	$ 2,677
Increases—prior year tax positions	1,559	735
Decreases—prior year tax positions	(566)	(266)
Increases—current year tax positions	536	575
Gross unrecognized tax benefits as of December 31	$ 5,250	$ 3,721