Income Taxes - Components of (Loss) Income Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
United States	$ (53,965)	$ (63,068)	$ (85,391)
International	(13,799)	(4,999)	168
Loss before (provision for) benefit from income taxes	$ (67,764)	$ (68,067)	$ (85,223)