Income Taxes - Schedule of Unrecognized Tax Benefits (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, Beginning Balance	$ 890	$ 535	$ 250
Reductions for lapse of applicable statutes	(217)	(23)
Additions for tax positions taken in prior years	66	378	285
Unrecognized Tax Benefits, Ending Balance	$ 739	$ 890	$ 535