Income Taxes - Schedule of Change in Valuation Allowance (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Valuation allowance, at beginning of year	$ 109,876	$ 94,117	$ 95,042
Increase in valuation allowance	10,321	15,759	0
Decrease in valuation allowance	0	0	(925)
Valuation allowance, at end of year	$ 120,197	$ 109,876	$ 94,117