Income Taxes - Income (Loss) Before Income Tax Expense (Benefit) (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Disclosure [Abstract]
Domestic	$ (67,914)	$ (37,875)	$ (13,202)
Foreign	13,852	16,224	4,641
Loss before income tax	$ (54,062)	$ (21,651)	$ (8,561)