Commitment and Contingencies - Supplemental Balance Sheet Information Related to Leases (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]
Operating lease right-of-use assets	$ 3,565	$ 3,681
Operating lease liabilities, current	2,670	2,559
Operating lease liabilities, non-current	11,642	12,302
Total operating lease liabilities	14,312
Finance lease right-of-use assets	87
Finance lease liabilities, current	43	42
Finance lease liabilities, non-current	53	$ 65
Total finance lease liabilities	$ 96