Income Taxes - Reconciliation of Gross 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 [Roll Forward]
Balance as of the beginning of the period	$ 23,940	$ 12,590	$ 5,682
Increases for tax positions related to the prior year	590	5,753	1,784
Decreases for tax positions related to the prior year	(243)	0	0
Additions for tax positions related to the current year	4,752	5,597	5,124
Balance as of the end of the period	$ 29,039	$ 23,940	$ 12,590