Prepaid Expenses and Other Current Assets - Schedule of Prepaid Expenses and Other Current Assets (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2020
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid software licenses	$ 10,306	$ 9,362
Coronavirus aid, relief, and economic security act retention credit	1,002	1,002	$ 2,036
Prepaid insurance costs	1,946	2,613
Other current assets	8,755	5,120
Total	$ 22,009	$ 18,097