Commitments and Contingencies - Supplemental Balance Sheet Information - Operating Leases (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Assets:
Operating lease assets	$ 19,657	$ 24,707
Liabilities:
Current portion of operating lease liabilities	2,893	2,347
Noncurrent operating lease liabilities	25,379	28,744
Total operating lease liabilities	$ 28,272	$ 31,091