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Income Taxes - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Income Tax Contingency [Line Items]      
Valuation allowance increase (decrease) $ 17,600 $ 14,300  
Unrecognized tax benefits 1,889 $ 1,239 $ 817
Enterprise Zone Tax Credit Carryforward | California Franchise Tax Board      
Income Tax Contingency [Line Items]      
Tax credit carryforward 100    
Domestic Tax Authority      
Income Tax Contingency [Line Items]      
Operating loss carryforwards 91,400    
Operating loss carryforwards subject to expiration 16,000    
Operating loss carryforwards, not subject to expiration 75,400    
Domestic Tax Authority | Research Tax Credit Carryforward      
Income Tax Contingency [Line Items]      
Tax credit carryforward 8,800    
State and Local Jurisdiction      
Income Tax Contingency [Line Items]      
Operating loss carryforwards 66,000    
State and Local Jurisdiction | Research Tax Credit Carryforward | California Franchise Tax Board      
Income Tax Contingency [Line Items]      
Tax credit carryforward $ 4,200