Debt - Summary of Interest Expense (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Debt Disclosure [Abstract]
Contractual interest expense	$ 5,952	$ 3,880	$ 3,881
Amortization of debt discount	0	0	8,153
Amortization of issuance costs	1,730	1,298	1,018
Total interest expense	$ 7,682	$ 5,178	$ 13,052