Commitments and Contingencies - Rent expense and purchase obligations (Details) $ in Millions	12 Months Ended
	Dec. 31, 2023 USD ($)
Rent expense and inventory purchase commitments
Liabilities accrued	$ 1.2
Other software agreements
Rent expense and inventory purchase commitments
Purchase obligations will be used in the next one to three years	$ 6.3
Other software agreements | Minimum
Rent expense and inventory purchase commitments
Long-term purchase commitment, period	1 year
Other software agreements | Maximum
Rent expense and inventory purchase commitments
Long-term purchase commitment, period	3 years