Summary of Significant Accounting Policies - Concentration of Risk (Details) - customer	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Total revenue | Customer concentration risk
Concentration of Risk
Number of customers	2	2	2
Total revenue | Customer concentration risk | Ten largest customers
Concentration of Risk
Number of customers	10	10	10
Percentage of concentration risk	59.40%	69.50%	74.00%
Total revenue | Customer concentration risk | First customer
Concentration of Risk
Percentage of concentration risk	13.10%	17.80%	17.90%
Total revenue | Customer concentration risk | Second customer
Concentration of Risk
Percentage of concentration risk	11.50%	15.40%	16.40%
Accounts receivable | Credit concentration risk
Concentration of Risk
Number of customers	2	2
Accounts receivable | Credit concentration risk | First customer
Concentration of Risk
Percentage of concentration risk	19.40%	29.10%
Accounts receivable | Credit concentration risk | Second customer
Concentration of Risk
Percentage of concentration risk	11.50%	13.60%