Restructuring Costs - Schedule of Restructuring Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Cost and Reserve [Line Items]
Restructuring cost	$ 1,583	$ 0	$ 0
Asset Impairment
Restructuring Cost and Reserve [Line Items]
Restructuring cost	200	0	0
Contract Termination
Restructuring Cost and Reserve [Line Items]
Restructuring cost	207	0	0
Employee Severance
Restructuring Cost and Reserve [Line Items]
Restructuring cost	1,139	0	0
Other
Restructuring Cost and Reserve [Line Items]
Restructuring cost	$ 37	$ 0	$ 0