Income Taxes - Schedule of Reconciliation of Unrecognized Tax Benefits (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Balances as of the beginning of the year	$ 9,061,000	$ 9,121,000	$ 499,000
Additions related to current year tax positions	0	0	7,424,000
Additions related to prior year tax positions	0	0	1,575,000
Decreases related to prior year tax positions			(138,000)
Decreases related to lapse of statutes	0	(60,000)	(239,000)
Balances as of the end of the year	$ 9,061,000	$ 9,061,000	$ 9,121,000