Income Taxes - Schedule of Unrecognized Tax Benefit (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance as of January 1	$ 437	$ 87	$ 0
Gross increases - tax positions in prior period	467	350	87
Gross decreases - tax positions in prior period	0		0
Gross increases - tax positions in current period	232	0	0
Settlement		0	0
Lapse of statute of limitations	0	0	0
Balance as of December 31	$ 1,136	$ 437	$ 87