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Commitments and Contingencies - Schedule of Restructuring (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Restructuring Reserve [Roll Forward]        
Beginning balance     $ 462  
Restructuring charges $ 1,555 $ 0 2,619 $ 0
Cash payments     (2,060)  
Ending balance 1,021   1,021  
Total costs incurred inception to date 6,634   6,634  
Total remaining expected expense to be incurred as of June 30, 2024 277   277  
Severance Expense        
Restructuring Reserve [Roll Forward]        
Beginning balance     147  
Restructuring charges     1,481  
Cash payments     (817)  
Ending balance 811   811  
Total costs incurred inception to date 4,906   4,906  
Total remaining expected expense to be incurred as of June 30, 2024 0   0  
Other Exit Expense        
Restructuring Reserve [Roll Forward]        
Beginning balance     315  
Restructuring charges     1,138  
Cash payments     (1,243)  
Ending balance 210   210  
Total costs incurred inception to date 1,728   1,728  
Total remaining expected expense to be incurred as of June 30, 2024 $ 277   $ 277