Income Taxes - Schedule of Reconciliation of Provision for Income Taxes at Federal Statutory Rate (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Gross unrecognized tax benefits - beginning of period	$ 1,431	$ 1,337
Increases related to current year tax positions	92	92
Increases related to prior year tax positions		2
Gross unrecognized tax benefits - end of period	$ 1,523	$ 1,431