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	Dec. 31, 2020
Summary of Significant Accounting Policies
Balance at Beginning of Period	$ 618	$ 519	$ 469	$ 648
Charged to Costs and Expenses	397	408	56
Write Off of Uncollectible Accounts, Net of Recoveries	(298)	(358)	(235)
Balance at End of Period	$ 618	$ 519	$ 469	$ 648