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Commitments and Contingencies - Schedule of Restructuring (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Restructuring Reserve [Roll Forward]        
Beginning balance     $ 462  
Restructuring charges $ 104 $ 3,690 2,723 $ 3,690
Cash payments     (2,278)  
Ending balance 907   907  
Total costs incurred inception to date 6,738   6,738  
Total remaining expected expense to be incurred as of September 30, 2024 41   41  
Severance Expense        
Restructuring Reserve [Roll Forward]        
Beginning balance     147  
Restructuring charges     1,356  
Cash payments     (898)  
Ending balance 605   605  
Total costs incurred inception to date 4,781   4,781  
Total remaining expected expense to be incurred as of September 30, 2024 0   0  
Other Exit Expense        
Restructuring Reserve [Roll Forward]        
Beginning balance     315  
Restructuring charges     1,367  
Cash payments     (1,380)  
Ending balance 302   302  
Total costs incurred inception to date 1,957   1,957  
Total remaining expected expense to be incurred as of September 30, 2024 $ 41   $ 41