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Supplemental Financial Statement Information - Schedule of Cash, Cash Equivalents and Restricted Cash (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Balance Sheet Related Disclosures [Abstract]
Cash	$ 7,114	$ 17,776
Cash equivalents	108,608	126,625
Cash and cash equivalents	115,722	144,401
Restricted cash	3,090	3,239
Total cash, cash equivalents and restricted cash	$ 118,812	$ 147,640	$ 85,165	$ 47,113

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