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Income Taxes - Narrative (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Income Tax Contingency [Line Items] |  |  |  |
Increase (decrease) in valuation allowance for deferred tax asset | $ 3,000 | $ 12,100 | $ 4,400 |
Unrecognized tax benefits | 16,512 | 11,252 | $ 4,119 | $ 234
Unrecognized tax benefits, income tax penalties and interest expense | 1,000 | 320 |  |
Domestic Tax Authority |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Operating loss carryforwards | 75,700 | 68,900 |  |
Foreign Tax Authority |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Operating loss carryforwards | 11,700 | 11,200 |  |
State and Local Jurisdiction | UNITED STATES |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Operating loss carryforwards | 24,800 | 16,600 |  |
State and Local Jurisdiction | UNITED STATES | Tax Year 2042 |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Operating loss carryforwards | 23,300 | 15,400 |  |
State and Local Jurisdiction | UNITED STATES | Do not expire |  |  |  |
Income Tax Contingency [Line Items] |  |  |  |
Operating loss carryforwards | $ 1,500 | $ 1,200 |  |

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