Income Taxes - Summary of Changes in Valuation Allowance (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Income Tax Disclosure [Abstract] | |||
| Valuation allowance at beginning of year | $ (37,627) | $ (23,864) | $ (17,485) |
| Change recorded to income tax provision as part of operations | (2,817) | (13,763) | (6,379) |
| Valuation allowance at end of year | $ (40,444) | $ (37,627) | $ (23,864) |