Summary of Significant Accounting Policies - Concentration (Details) - customer	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Sales | Customer
Risk and Uncertainties
Number of customers exceeding 10% of benchmark	0	0	0
Sales | Customer | Medicare
Risk and Uncertainties
Concentration risk (as a percent)	12.80%	11.20%	5.10%
Accounts receivable | Credit
Risk and Uncertainties
Number of customers exceeding 10% of benchmark	0	0
Accounts receivable | Credit | Medicare
Risk and Uncertainties
Concentration risk (as a percent)	13.90%	14.10%