Income Taxes - Loss Before Provision for Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (16,749)	$ (62,539)	$ (109,393)
Foreign	(4,822)	(3,170)	(1,402)
Loss before income taxes	$ (21,571)	$ (65,709)	$ (110,795)