Income Taxes - Components of Income Tax Contingencies (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Beginning unrecognized tax benefit	$ 359	$ 254	$ 376
Additions for tax positions of prior years	0	105	0
Reductions for tax positions of prior years	0	0	0
Lapse of statute of limitations	0	0	(122)
Decrease due to settlement with taxing authorities	0	0	0
Ending unrecognized tax benefit	$ 359	$ 359	$ 254