Stockholders' Equity - Schedule of Warrant Activity (Details) - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Warrants and Rights Note Disclosure [Abstract]
Weighted average remaining contractual life, outstanding shares (in years)	4 years 9 months 18 days	3 years 9 months 18 days	3 years 4 months 24 days
Warrant
Number of Shares
Number of shares, warrants outstanding, beginning (in shares)	855	855
Number of shares, warrants granted (in shares)	376	0
Number of shares, warrants exercise (in shares)	(400)
Number of shares, warrants outstanding, ending (in shares)	831	855	855
Number of shares, warrants vested and exercisable (in shares)	831
Warrants and Rights Note Disclosure [Abstract]
Weighted average exercise price, warrants outstanding, beginning (in dollars per share)	$ 8.23	$ 8.23
Weighted average exercise price, warrants granted (in dollars per share)	9.13	0
Weighted average exercise price warrants, exercised (in dollars per share)	3.00
Weighted average exercise price, warrants outstanding, ending (in dollars per share)	11.16	$ 8.23	$ 8.23
Weighted average exercise price, warrants vested and exercisable (in dollars per share)	$ 11.16
Weighted average remaining contractual life, outstanding shares (in years)	1 year 10 months 24 days	1 year 10 months 24 days	1 year 10 months 24 days
Weighted average remaining contractual life, warrants granted (in years)	4 years 2 months 12 days
Weighted average remaining contractual life, warrants vested and exercisable (in years)	1 year 10 months 24 days