Income Taxes - Total Balance of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Balance at beginning of period	$ 5,606	$ 4,609	$ 3,519
Gross increase to tax positions in current periods	2,034	997	1,090
Balance at end of period	$ 7,640	$ 5,606	$ 4,609