Income Taxes - Schedule of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands |
12 Months Ended | |
|---|---|---|
Dec. 31, 2023 |
Dec. 31, 2022 |
|
| Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward] | ||
| Gross unrecognized tax benefit, beginning of period | $ 3,002 | $ 3,415 |
| Additions based on tax positions related to the current year | 128 | 150 |
| Additions related to tax positions in a prior year | 158 | |
| Settlements related to tax positions in a prior period | (32) | (321) |
| Decreases based on tax positions in a prior period | (814) | (400) |
| Gross unrecognized tax benefit, end of period | $ 2,284 | $ 3,002 |