Fair Value of Financial Instruments - Schedule of Reconciliation of Level 3 Earn-Out Liabilities (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($)
Fair Value, Balance Sheet Grouping, Financial Statement Captions [Line Items]
Beginning Balance	$ 3,640
Achieved milestone paid	(2,500)
Achieved milestones reclassified to accrued expenses	(1,000)
Change in fair value of earn-out liabilities	200
Ending Balance	$ 340