Summary of Significant Accounting Policies - Contract Assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Accounting Policies [Abstract]
Unbilled receivables, Balance at Beginning of Period	$ 2,929	$ 3,087
Unbilled receivables, Revenue Recognized In Advance of Billings	4,356	5,288
Unbilled receivables, Billings	(5,884)	(5,446)
Unbilled receivables, Balance at End of Period	$ 1,401	$ 2,929