Summary of Significant Accounting Policies -Allowance for doubtful accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Beginning balance	$ 1,879	$ 1,094	$ 1,387
Additions	1,407	2,582	703
Write-offs, net of recoveries	(1,862)	(1,797)	(996)
Ending balance	$ 1,424	$ 1,879	$ 1,094