Income Taxes - Summary of Components of Income (Loss) before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
U.S.	$ (40,349)	$ (24,508)	$ (51,488)
Foreign	(3,339)	391	381
Loss before income taxes	$ (43,688)	$ (24,117)	$ (51,107)