Deferred Revenue and Revenue by Type - Deferred Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Change in Contract with Customer, Liability [Roll Forward]
Balance, beginning of year	$ 1,958	$ 1,975
Add: net increase in current period contract liabilities	1,595	1,942
Less: revenue recognized from beginning balance	(1,789)	(1,959)
Balance, end of year	$ 1,764	$ 1,958