Income Taxes - Reconciliation of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] | |||
| Unrecognized tax benefits beginning balance | $ 2,763 | $ 1,736 | $ 1,355 |
| Additions for tax positions taken during the current year | 679 | 765 | 444 |
| Additions (reductions) for tax positions taken during a prior year | 133 | 275 | |
| Additions (reductions) for tax positions taken during a prior year | (58) | ||
| Reductions as a result of a lapse of the applicable statute of limitations | (21) | (13) | (5) |
| Unrecognized tax benefits ending balance | $ 3,554 | $ 2,763 | $ 1,736 |