Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Beginning balance of unrecognized tax benefits	$ 3,494	$ 3,013
Additions for current year tax positions	683	481
Reductions for prior year tax positions	67	0
Ending balance	$ 4,244	$ 3,494