Income Taxes - Schedule of Unrecognized Tax Benefits Roll Forward (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Unrecognized tax benefits beginning balance	$ 10,542	$ 9,676	$ 8,855
Gross increase for tax positions of prior years	262	89	0
Gross decrease for tax positions of prior years	0	0	(25)
Gross increase for tax positions of current year	1,127	777	846
Lapse of statute of limitations	(33)	0	0
Total unrecognized tax benefits	$ 11,898	$ 10,542	$ 9,676

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

No definition available.

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- Definition

Amount of unrecognized tax benefits.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
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-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
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- Definition

Amount of decrease in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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-SubTopic 10
-Name Accounting Standards Codification
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-Paragraph 15A
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- Definition

Amount of increase in unrecognized tax benefits resulting from tax positions that have been or will be taken in current period tax return.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
-SubTopic 10
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Amount of increase in unrecognized tax benefits resulting from tax positions taken in prior period tax returns.

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Amount of decrease in unrecognized tax benefits resulting from lapses of applicable statutes of limitations.

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Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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