Income Taxes - Schedule of Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Beginning balance	$ 3,688	$ 3,249
Additions for tax positions taken in a prior year	200	0
Additions for tax positions taken in a current year	451	439
Ending balance	$ 4,339	$ 3,688