Summary of Significant Accounting Policies - Summary of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Cash and Cash Equivalents
Cash	$ 49,054	$ 109,646
Cash equivalents	137,363	97,148
Restricted cash	798	745
Total cash, cash equivalents, and restricted cash shown in the statement of cash flows	$ 187,215	$ 207,539	$ 521,014	$ 203,284