Revenue Recognition - Deferred revenue (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2024	Sep. 30, 2023
Revenue from Contract with Customer [Abstract]
Deferred revenue, beginning of period	$ 7,013	$ 7,840
Deferred revenue, end of period	9,598	9,406
Revenue recognized during the period from amounts included in deferred revenue at the beginning of the period	$ 7,013	$ 7,840