Leases - Schedule of Supplemental Cash Flow Information Related to Leases (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from operating leases	$ 1,602	$ 1,632	$ 1,626
ROU assets obtained in exchange for lease obligations:
Operating leases	$ 1,689	$ 26	$ 256