Description of Business and Summary of Significant Accounting Policies - Immaterial Correction of Prior Period Financial Statements (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit	$ 128,569			$ 130,567
Stockholders' equity	$ 68,572	$ 67,566	$ 65,807	$ 62,906	$ 62,253	$ 63,866	$ 70,374	$ 75,250
Revision of Prior Period, Error Correction, Adjustment
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit					1,600
Stockholders' equity					(1,600)
Previously Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Accumulated deficit					128,410
Stockholders' equity					$ 63,866