Income Taxes - Loss Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (87,409)	$ (111,339)	$ (16,496)
Foreign	(3,321)	(239)	(1,617)
Loss before provision for income taxes	$ (90,730)	$ (111,578)	$ (18,113)