Income Taxes - Net Deferred Tax Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets
Accrued compensation	$ 1,919	$ 2,087
Operating lease liability	1,322	1,822
Share-based compensation	8,377	6,033
Net operating loss carryforwards	28,430	20,984
Allowance for bad debt	306	223
Tax credits	1,702	3,615
Section 174 capitalization	12,730	5,705
Other	404	(32)
Total deferred tax assets	55,190	40,437
Valuation allowance	(51,398)	(36,109)
Net deferred tax assets	3,792	4,328
Deferred tax liabilities
Depreciation and amortization	(3,245)	(3,392)
Operating lease assets	(1,107)	(1,454)
Other	0	0
Total deferred tax liabilities	(4,352)	(4,846)
Net deferred tax liabilities	$ (560)	$ (518)