Commitments and Contingencies - Schedule of Supplemental Balance Sheet Information Related To Operating Leases (Details)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Lease, Cost [Abstract]
Weighted average remaining lease term	5 years 7 months 6 days	3 years 3 months 18 days	4 years 3 months 18 days
Weighted average discount rate	10.90%	5.40%	5.40%