Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Income Tax Disclosure [Abstract]
Balance at beginning of year	$ 3,141	$ 1,470
Additions based on tax positions related to current year	1,423	1,588
Additions based on tax positions related to prior years		83
Reductions for tax positions related to prior years	(43)
Balance at end of year	$ 4,521	$ 3,141