Commitments and Contingencies - Weighted-Average Remaining Lease Term and Discount Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Leases
Weighted-average remaining lease term (years)	5 years 2 months 19 days	5 years 10 months 20 days
Weighted-average discount rate	5.14%	4.61%
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	$ 578	$ 574