Lease - Schedule of Supplemental Balance Sheet Information Related to Leases (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Jan. 01, 2022
Supplemental disclosure of cash flow information:
Operating lease right-of-use assets	$ 10,853	$ 13,883	$ 14,600
Included in other current liabilities:
Operating lease liability, current	2,444	2,931
Operating lease liability, noncurrent	9,479	12,312
Total operating lease liabilities	$ 11,923	$ 15,243	$ 15,200
Weighted-average remaining lease term - operating leases:	4 years 8 months 4 days	5 years 5 months 19 days
Weighted-average discount rate - operating leases:	2.70%	2.60%