Commitments and Contingencies - Schedule of Supplemental Cash Flow Information (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 operating leases | $ 6,756 | $ 6,375 | $ 6,497 |
| Right-of-use assets obtained in exchange for lease liabilities | |||
| Operating leases | $ 1,873 | $ 3,470 | $ 1,646 |