Income Taxes - Schedule of Provision (Benefit) Expense for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Pre-tax (loss) / income
Domestic	$ (46,650)	$ (65,749)	$ (17,030)
Foreign	(978)	(1,641)	4,050
Loss before income taxes	(47,628)	(67,390)	(12,980)
Current tax expense / (benefit):
Federal	104		(165)
State	58	96	(36)
Foreign	731	315	744
Total current tax expense	893	411	543
Deferred tax expense / (benefit):
Federal	(9,273)	(16,253)	(3,506)
State	(1,177)	(1,977)	(464)
Foreign	(1,099)	(909)	170
Change in valuation allowance	10,869	18,664	3,970
Total deferred tax (benefit) expense	(680)	(475)	170
Total tax expense (benefit):
Federal	(9,169)	(16,253)	(3,671)
State	(1,119)	(1,881)	(500)
Foreign	(368)	(594)	914
Change in valuation allowance	10,869	18,664	3,970
Total income tax (benefit) expense	$ 213	$ (64)	$ 713