Summary of Significant Accounting Policies - Allowance for doubtful accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Summary of Significant Accounting Policies
Balance at Beginning of Period	$ 519	$ 469	$ 648	$ 671
Charged to Costs and Expenses	408	56	420
Write Off of Uncollectible Accounts, Net of Recoveries	(358)	(235)	(443)
Balance at End of Period	$ 519	$ 469	$ 648	$ 671