Summary of Significant Accounting Policies - Concentration of Risk (Details) - customer	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Total revenue | Customer concentration risk
Concentration of Risk
Number of customers	0	2	2
Total revenue | Customer concentration risk | Ten largest customers
Concentration of Risk
Number of customers	10	10	10
Percentage of concentration risk	51.70%	59.40%	69.50%
Total revenue | Customer concentration risk | First customer
Concentration of Risk
Percentage of concentration risk		13.10%	17.80%
Total revenue | Customer concentration risk | Second customer
Concentration of Risk
Percentage of concentration risk	10.00%	11.50%	15.40%
Accounts receivable | Credit concentration risk
Concentration of Risk
Number of customers	1	2
Accounts receivable | Credit concentration risk | First customer
Concentration of Risk
Percentage of concentration risk	12.20%	19.40%
Accounts receivable | Credit concentration risk | Second customer
Concentration of Risk
Percentage of concentration risk		11.50%