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 - January 1	$ 3,159	$ 2,351	$ 1,670
Increases in prior year positions	0	82	83
Increases in tax positions taken in current year	4,794	726	632
Statute expirations	0	0	(34)
Unrecognized tax benefits - December 31	$ 7,953	$ 3,159	$ 2,351