Income Taxes - Schedule of Components of Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
United States	$ (51,919)	$ (56,817)
Foreign	546	(1,408)
Loss before provision for income taxes	$ (51,373)	$ (58,225)