Summary of Significant Accounting Policies - Contract Costs and Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022
Accounting Policies [Abstract]
Fulfillment costs	$ 774	$ 0
Amortization expense related to fulfillment costs	85	0
Contract costs	111	143	$ 108	$ 114	$ 161	$ 258	$ 358	$ 499
Long-term contract costs	578	0	613	639	751
Contract liabilities, net	100	1,985	0	0	1,120	$ 3,576	$ 4,961	$ 6,917
Contract with Customer, Liability, Noncurrent	$ 2,984	$ 0	$ 2,792	$ 2,840	$ 398