Commitment and Contingencies - Supplemental Balance Sheet Information Related to Leases (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Commitments and Contingencies Disclosure [Abstract]
Operating lease right-of-use assets	$ 3,381	$ 3,681
Operating lease liabilities, current	2,765	2,559
Operating lease liabilities, non-current	10,915	12,302
Total operating lease liabilities	13,680
Finance lease right-of-use assets	96
Finance lease liabilities, current	52	42
Finance lease liabilities, non-current	53	$ 65
Total finance lease liabilities	$ 105