Revenue Recognition - Revenue by Timing of Transfer of Goods or Services (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Disaggregation of Revenue [Line Items]
Total revenue	$ 4,322	$ 3,184	$ 8,743	$ 7,490
Goods or services transferred at a point in time
Disaggregation of Revenue [Line Items]
Total revenue	1,369	733	2,640	2,502
Goods or services transferred over time
Disaggregation of Revenue [Line Items]
Total revenue	$ 2,953	$ 2,451	$ 6,103	$ 4,988