Income Taxes - Schedule of Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Statutory U.S. federal tax rate	$ (10,002)	$ (14,152)	$ (2,726)
State taxes net of federal benefit	(1,132)	(1,901)	(492)
Non-U.S. earnings taxed at rates different than the U.S. statutory rate	5	(80)	(150)
Foreign source earnings, net of associated foreign tax credits	628	486	601
Benefit of tax credits	(501)	(458)	(1,569)
Stock based compensation	27	(2,852)	(212)
Change in valuation allowance	10,869	18,664	3,970
Change in unrecognized tax benefits	175	92	710
Other	144	137	581
Total income tax (benefit) expense	$ 213	$ (64)	$ 713