Income Taxes - Schedule of Changes in Gross Liability for Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Balance at beginning of year	$ 1,039	$ 1,172
Increases (reductions) in unrecognized tax benefits as a result of positions taken during the prior year	84	(89)
Increases in unrecognized tax benefits as a result of positions taken during the current year	485	231
Reductions to unrecognized tax benefits as a result of a lapse of the applicable statute of limitations	(213)	(275)
Balance at end of year	$ 1,395	$ 1,039