Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Abstract]
Deferred tax assets, increase in valuation allowance	$ 64,500,000	$ 9,100,000
Unrecognized tax benefits	3,120,000	1,661,000	$ 1,217,000	$ 842,000
Recognized interest and penalties expense (benefit) related to unrecognized tax benefits	$ 0	$ 0	$ 0