Summary of Significant Accounting Policies - Contract Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Accounting Policies [Abstract]
Deferred revenue, Balance at Beginning of Period	$ 3,733	$ 3,740
Deferred revenue, Billings	9,478	7,104
Deferred revenue, Revenue Recognized	(7,674)	(7,111)
Deferred revenue, Balance at End of Period	$ 5,537	$ 3,733