Commitments and Contingencies - Schedule of Restructuring (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Restructuring Reserve [Roll Forward]
Balance at December 31, 2022	$ 0
Restructuring charges	4,015	$ 0	$ 0
Cash payments	(3,553)
Balance at December 31, 2023	462	0
Total costs incurred inception to date	4,015
Total estimated expense to be incurred after December 31, 2023	62
Employee Severance
Restructuring Reserve [Roll Forward]
Balance at December 31, 2022	0
Restructuring charges	3,425
Cash payments	(3,278)
Balance at December 31, 2023	147	0
Total costs incurred inception to date	3,425
Total estimated expense to be incurred after December 31, 2023	62
Other Restructuring
Restructuring Reserve [Roll Forward]
Balance at December 31, 2022	0
Restructuring charges	590
Cash payments	(275)
Balance at December 31, 2023	315	$ 0
Total costs incurred inception to date	590
Total estimated expense to be incurred after December 31, 2023	$ 0