Income Tax Expense - Reconciliation of Income Tax Expense At US Federal Statutory Income Tax Rate to Effective Income Tax Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Income tax expense computed at U.S. federal statutory income tax rate	$ 581	$ 12,756	$ 15,367
State income taxes	(330)	(3,198)	3,088
Permanent items	3,028	399	1,465
Research and development credits	(1,117)	237	(1,016)
Uncertain income tax position	(2,529)	(1,992)	(314)
Change in valuation allowance	1,267	(8,626)	250
Other	553	456	911
Income tax expense	$ 1,453	$ 32	$ 19,751