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Income Taxes - Additional Information (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards, limited to offset taxable income in year utilized, percent 80.00%      
Adjustment of deferred tax (asset) liability $ 25,500      
Accrued interest and penalties related to uncertain tax positions 200 $ 200 $ 200  
Unrecognized tax benefits 12,561 $ 11,237 $ 9,026 $ 8,625
Unrecognized tax benefits that would affect the effective tax rate if recognized 6,800      
Research Tax Credit | Federal        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards 27,100      
Research Tax Credit | State        
Operating Loss Carryforwards [Line Items]        
Tax credit carryforwards 29,400      
Federal        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards $ 21,800      
Operating loss carryforwards, carryforward period 20 years      
State        
Operating Loss Carryforwards [Line Items]        
Operating loss carryforwards $ 63,200