Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits as of the beginning of the year	$ 2,235	$ 1,321	$ 737
Increases related to prior year tax provisions	217	298	65
Increase related to current year tax provisions	1,183	616	519
Unrecognized tax benefits as of the end of the year	$ 3,635	$ 2,235	$ 1,321