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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