Income Taxes - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Valuation balance allowance increase	$ 10,200	$ 17,300
Operating loss carryforwards, expiration period	20 years
Unrecognized tax benefits	$ 5,088	4,029	$ 2,569
Domestic Tax Authority
Income Tax Contingency [Line Items]
Operating loss carryforwards	144,900	119,800
Domestic Tax Authority | Research Tax Credit Carryforward
Income Tax Contingency [Line Items]
Tax credit carryforwards	5,800	4,300
Domestic Tax Authority | Operating Loss Carryforward Through 2037
Income Tax Contingency [Line Items]
Operating loss carryforwards	7,600	7,600
State and Local Jurisdiction
Income Tax Contingency [Line Items]
Operating loss carryforwards	44,700	46,400
State and Local Jurisdiction | Research Tax Credit Carryforward
Income Tax Contingency [Line Items]
Tax credit carryforwards	$ 6,900	$ 5,800