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Commitments and Contingencies - Summary of Supplemental Cash Flow Information Related to Leases (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Cash paid for amounts included in the measurement of lease liabilities    
Operating cash flows from operating leases $ 5,022 $ 4,639
Right-of-use assets obtained in exchange for operating lease liabilities $ 1,147 $ 934