Income Taxes - Summary of Changes in Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Balance at the beginning of the year	$ 2,339	$ 1,359
Increases (decreases) related to tax positions taken in prior years	102	(43)
Increases related to tax positions taken in current year	1,297	1,023
Balance at the end of the year	$ 3,738	$ 2,339