Income Taxes - Summary of Income Tax Contingencies (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]
Unrecognized tax benefits, opening balance	$ 1,576	$ 1,635	$ 1,674
Gross increases in tax positions taken in a prior year	112		82
Gross decreases in tax positions taken in a prior year		(10)
Gross increases in tax positions taken in the current year	442	294	316
Lapse of applicable statute of limitations	(508)	(343)	(437)
Unrecognized tax benefits, ending balance	$ 1,622	$ 1,576	$ 1,635