Income Taxes - Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands |
12 Months Ended | ||
|---|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
Dec. 31, 2021 |
|
| Income Taxes [Line Items] | |||
| Interest and penalties accrued | $ 0 | ||
| Reconciliation of the beginning and ending amount of gross unrecognized tax benefits | |||
| Balance at beginning of year | 23,844 | $ 17,514 | $ 11,500 |
| Additions based on tax positions related to the current year | 7,034 | 6,301 | 6,017 |
| Additions (reductions) for tax positions of prior years | (3) | ||
| Additions for tax positions of prior years | 34 | 29 | |
| Balance at end of year | 30,912 | 23,844 | 17,514 |
| Research and development tax credit carryforward | |||
| Income Taxes [Line Items] | |||
| Unrecognized tax benefits increase | $ 7,100 | $ 6,300 | $ 6,000 |