Income Taxes - Reconciliation of Change in Federal and State Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Balance at beginning of year	$ 1,648	$ 1,331	$ 1,277
Prior period tax positions	(434)	0	0
Current period tax positions	726	317	54
Balance at End of Year	1,940	1,648	1,331
Amount That Would Affect the Effective Tax Rate if Recognized	$ 1,551	$ 1,148	$ 1,069