Income Taxes - Provisions/ Benefit (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Current:
Federal	$ 0	$ 0	$ 0
State	246	374	107
Foreign	1,640	1,158	1,012
Total current	1,886	1,532	1,119
Deferred:
Federal	0	0	0
State	0	0	0
Foreign	8	(435)	(73)
Total deferred	8	(435)	(73)
Provision for income taxes	$ 1,894	$ 1,097	$ 1,046