Summary of Significant Accounting Policies - Schedule of Reconciliation of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounting Policies [Abstract]
Cash and cash equivalents	$ 217,680	$ 123,274	$ 76,707
Restricted cash	15,000	13,000	13,000
Total cash, cash equivalents, and restricted cash shown in the consolidated statements of cash flows	$ 232,680	$ 136,274	$ 89,707	$ 81,619