Summary of Significant Accounting Policies - Product Warranty (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Summary of product warranty activity
Beginning balance	$ 1,287	$ 1,084
Charges to expense	947	1,127
Costs incurred	(1,406)	(924)
Ending balance	$ 828	$ 1,287