Summary of Significant Accounting Policies - Allowance for Doubtful Accounts (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Accounts Receivable, Allowance for Credit Loss
Balance, beginning of year	$ 623	$ 659
Charges to provision for credit losses, net of recoveries	138	203
Write-offs	(16)	(239)
Balance, end of year	$ 745	$ 623