Leases - Supplemental Information Related to Operating Leases (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases
Operating cash flows from operating leases	$ 974	$ 846	$ 924
Leased assets obtained in exchange for new operating lease liabilities	$ 2,010
Weighted-Average Remaining Lease Term (in years):
Operating leases	5 years 3 months 18 days	5 years 2 months 12 days	5 years 4 months 24 days
Weighted-Average Discount Rate:
Operating leases	10.20%	10.10%	10.10%