Leases - Schedule of Components Lease Costs (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases [Abstract]
Operating lease cost	$ 3,372	$ 3,372	$ 3,424
Variable lease cost	490	439	212
Short-term lease cost	247	435	358
Total lease cost	$ 4,109	$ 4,246	$ 3,994