Revenue from Contracts with Customers - Contract Balances (Details)	12 Months Ended
	Dec. 31, 2023 USD ($) item	Dec. 31, 2022 USD ($)	Dec. 31, 2021 USD ($)
Revenue from Contracts with Customers
Number of vendors the company received signing bonuses from in prior years | item	2
Contract liabilities	$ 1,900,000	$ 2,700,000
Increase in recognized revenues and contract liabilities	800,000	900,000	$ 900,000
Change in contract liabilities due to changes in transaction price estimates	0	0	$ 0
Receivables from contracts with customers or contract assets	$ 0	$ 0