Income Taxes - Summary of Balances In Uncertain Tax Positions (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Uncertainties [Abstract]
Total unrecognized tax benefits, beginning balance	$ 835	$ 696	$ 648
Tax positions taken during a prior period	154	100	21
Tax positions taken during the current period	0	39	27
Total unrecognized tax benefits, ending balance	$ 989	$ 835	$ 696