Commitments and Contingencies - Financial Statement Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Assets
Operating lease right-of-use assets	$ 10,055	$ 12,831
Finance lease	$ 2,516	$ 1,606
Finance Lease, Right-of-Use Asset, Statement of Financial Position [Extensible List]	Property and equipment, net	Property and equipment, net
Total leased assets	$ 12,571	$ 14,437
Liabilities
Operating lease liabilities	2,441	2,810
Operating lease liabilities, non-current	8,887	11,352
Total Operating lease liabilities	11,328	14,162
Finance lease liabilities, current	$ 825	$ 485
Finance Lease, Liability, Current, Statement of Financial Position [Extensible List]	Accrued liabilities	Accrued liabilities
Finance lease liabilities, non-current	$ 1,064	$ 825
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other long-term liabilities	Other long-term liabilities
Present value of lease liabilities	$ 1,889	$ 1,310
Finance lease cost	790	643	$ 484
Finance lease cost	116	76	59
Operating lease cost	3,598	3,560	3,542
Operating cash flows	87	78	56
Financing cash flows	594	520	462
Operating cash flows	$ 3,297	$ 2,526	$ 3,092