Income Taxes - Aggregate Changes in Balance of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Reconciliation of Unrecognized Tax Benefits, Excluding Amounts Pertaining to Examined Tax Returns [Roll Forward]
Beginning balance	$ 6,972	$ 8,515
Increases in balances related to tax positions during a prior period	105	154
Increases in balances related to tax positions taken during current period		0
Decreases in balances related to tax positions taken during current period	(138)
Decreases in balances related to tax positions taken during prior period		(1,697)
Ending balance	$ 6,939	$ 6,972

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
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 740
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-Name Accounting Standards Codification
-Section 45
-Paragraph 10B
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147482525/740-10-45-10B

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- Definition

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

+ References

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-Name Accounting Standards Codification
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-Section 50
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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
-Topic 740
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 15A
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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
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-Name Accounting Standards Codification
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-URI https://asc.fasb.org//1943274/2147482685/740-10-50-15A

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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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