Summary of Significant Accounting Policies - Deferred Revenue Expected To Be Recognized (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Revenue Recognition
Remaining performance obligation amount	$ 21,482	$ 19,200
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Revenue Recognition
Period in which remaining performance obligation is expected to be recognized as revenue		1 year
Remaining performance obligation amount		$ 10,629
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-07-01
Revenue Recognition
Period in which remaining performance obligation is expected to be recognized as revenue	6 months
Remaining performance obligation amount	$ 11,954
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01
Revenue Recognition
Period in which remaining performance obligation is expected to be recognized as revenue		1 year
Remaining performance obligation amount		$ 5,080
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-07-01
Revenue Recognition
Period in which remaining performance obligation is expected to be recognized as revenue	1 year
Remaining performance obligation amount	$ 5,204
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-01-01
Revenue Recognition
Period in which remaining performance obligation is expected to be recognized as revenue		1 year
Remaining performance obligation amount		$ 3,491
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-07-01
Revenue Recognition
Period in which remaining performance obligation is expected to be recognized as revenue	1 year
Remaining performance obligation amount	$ 4,324