Leases - Summary of Cash Paid for Amounts Included in Measurement of Lease Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Cash paid for amounts included in the measurement of lease liabilities:
Operating cash flows from finance leases	$ 123	$ 127
Operating cash flows from operating leases	2,556	2,939
Financing cash flows from finance leases	$ 93	$ 90	$ 87