Commitments and Contingencies - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Commitments and Contingencies Disclosure [Abstract]
Recognized amortization expense	$ 1,325	$ 697	$ 522
Recognized tax credits and other benefits	$ 1,700	$ 926	$ 651