Income Taxes - Income (loss) Before Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
United States	$ (3,568)	$ (31,061)	$ (6,021)
Foreign	8,214	(1,856)	3,006
Income (loss) before income taxes	$ 4,646	$ (32,917)	$ (3,015)