Income Taxes - Income Before Income Tax, Domestic and Foreign (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
United States	$ (125,715)	$ (91,210)	$ (41,567)
Foreign	1,617	2,210	2,467
Loss before provision (benefit) for income taxes	$ (124,098)	$ (89,000)	$ (39,100)