Income Taxes - Summary of Net Operating Loss and Tax Carryforwards (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($)
Operating Loss Carryforwards [Line Items]
Net operating losses, state expiration begin year	2036
Tax credits, federal expiration begin year	2036
Tax credits, state expiration description	Do Not Expire
Federal
Operating Loss Carryforwards [Line Items]
Tax credits	$ 14,730
State
Operating Loss Carryforwards [Line Items]
Net operating losses	63,212
Tax credits	$ 6,856
Post-December 31, 2017
Operating Loss Carryforwards [Line Items]
Net operating losses, federal expiration description	Do Not Expire
Post-December 31, 2017 | Federal
Operating Loss Carryforwards [Line Items]
Net operating losses	$ 224,796
Pre-January 1, 2018
Operating Loss Carryforwards [Line Items]
Net operating losses, federal expiration begin year	2036
Pre-January 1, 2018 | Federal
Operating Loss Carryforwards [Line Items]
Net operating losses	$ 3,093