Commitments and Contingencies - Schedule of Restructuring (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Restructuring Reserve [Roll Forward]
Beginning Balance	$ 462
Restructuring charges	1,064	$ 0
Cash payments	(1,330)
Ending Balance	196
Total costs incurred inception to date	5,079
Total expected expense to be incurred as of March 31, 2024	934
Severance Expense
Restructuring Reserve [Roll Forward]
Beginning Balance	147
Restructuring charges	574
Cash payments	(688)
Ending Balance	33
Total costs incurred inception to date	3,999
Total expected expense to be incurred as of March 31, 2024	274
Other Exit Expense
Restructuring Reserve [Roll Forward]
Beginning Balance	315
Restructuring charges	490
Cash payments	(642)
Ending Balance	163
Total costs incurred inception to date	1,080
Total expected expense to be incurred as of March 31, 2024	$ 660