Income Taxes - Schedule of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Uncertainties [Abstract]
Balance at beginning of year	$ 952	$ 819
Gross increases to prior year tax positions	250
Gross increases to current year tax positions	179	133
Balance at end of year	$ 1,381	$ 952