Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Taxes [Line Items]
Interest and penalties accrued	$ 0
Reconciliation of the beginning and ending amount of gross unrecognized tax benefits
Balance at beginning of year	23,844	$ 17,514	$ 11,500
Additions based on tax positions related to the current year	7,034	6,301	6,017
Additions (reductions) for tax positions of prior years			(3)
Additions for tax positions of prior years	34	29
Balance at end of year	30,912	23,844	17,514
Research and development tax credit carryforward
Income Taxes [Line Items]
Unrecognized tax benefits increase	$ 7,100	$ 6,300	$ 6,000