Income Taxes - Summary 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
Unrecognized benefit—beginning of year	$ 5,809	$ 4,692	$ 3,105
Gross (decreases) increases—prior year tax positions	(527)	(210)	32
Gross increases—current year tax positions	709	1,327	1,555
Unrecognized benefit—end of year	$ 5,991	$ 5,809	$ 4,692