Summary of Significant Accounting Policies - Credit Losses (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts, Notes, Loans and Financing Receivable [Line Items]
Credit loss expense (reversal) for accounts and notes receivable	$ 1,000,000	$ 800,000	$ (1,000,000)
Interest receivable (less than in 2022)	100,000	100,000
Hardware Financing Receivables
Accounts, Notes, Loans and Financing Receivable [Line Items]
Loan balance	$ 0	$ 0
Distribution Partner
Accounts, Notes, Loans and Financing Receivable [Line Items]
Write-offs			$ 700,000