Goodwill and Intangible Assets, net - Amortization expense of intangible assets (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Goodwill and Intangible Assets, net
Amortization expense of intangible assets	$ 220	$ 218
Product cost of revenue
Goodwill and Intangible Assets, net
Amortization expense of intangible assets	107	106
Selling, general and administrative expenses
Goodwill and Intangible Assets, net
Amortization expense of intangible assets	$ 113	$ 112