Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Unrecognized tax benefits as of the beginning of the year	$ 4,029	$ 2,569
Increases related to prior year tax provisions	0	244
Increase related to current year tax provisions	1,059	1,216
Unrecognized tax benefits as of the end of the year	$ 5,088	$ 4,029