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Income Taxes - Narrative (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Income Tax Contingency [Line Items]
Valuation allowance	$ 12,375	$ 12,476
State research and development credit carryforwards	17,000	16,200
Unrecognized tax benefits	6,100	5,300	$ 4,900
Foreign Tax Authority
Income Tax Contingency [Line Items]
Tax credit carryforward	$ 1,000	$ 900

X

- Definition

Amount of deferred tax assets for which it is more likely than not that a tax benefit will not be realized.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)
-Publisher FASB
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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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- Definition

Amount of operating loss carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

+ References

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-Name Accounting Standards Codification
-Topic 740
-SubTopic 10
-Section 50
-Paragraph 3
-Subparagraph (a)
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The amount of the tax credit carryforward, before tax effects, available to reduce future taxable income under enacted tax laws.

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-Topic 740
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-Section 50
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- Definition

The total amount of unrecognized tax benefits that, if recognized, would affect the effective tax rate.

+ References

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-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

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