Summary of Significant Accounting Policies - Receivable and Related Credit Loss (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Prepaid expenses and other current assets, gross amount	$ 0	$ 0
Prepaid expenses and other current assets, allowance for credit losses	0	0	$ 0
Prepaid expenses and other current assets, net amount	0	0
Other assets, gross amount	3,700	4,800
Other assets, allowance for credit losses	(3,700)	(4,800)	(5,900)
Other assets, net amount	0	0
Financing Receivable, Allowance for Credit Loss [Roll Forward]
Allowance for credit losses—Beginning of period	0	0	0
Charged to (reversed from) other income (expense), net	(1,100)	(1,100)	(1,100)
Reclassification	1,100	1,100	1,100
Allowance for credit losses—End of period	0	0	0
Allowance for credit losses—Beginning of period	4,800	5,900	7,000
Reclassification	(1,100)	(1,100)	(1,100)
Allowance for credit losses—End of period	$ 3,700	$ 4,800	$ 5,900