Income Taxes - Schedule of Reconciliation of Total Amounts of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefit, beginning of year	$ 4,570	$ 5,237	$ 7,640
Increase (decrease) based on tax positions in prior period	0	(1,101)	(3,504)
Increase based on tax positions in current period	0	434	1,101
Unrecognized tax benefit, end of year	4,570	4,570	5,237
Deferred income taxes	0	(2,358)	63
Provision for (benefit from) income taxes	$ 17	$ (2,560)	$ 206