Revenues from Contracts with Customers - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Deferred revenue	$ 2,700	$ 2,900
Deferred revenue, revenue recognized	1,700	$ 2,500	$ 2,100
Revenue, remaining performance obligation, amount	$ 169,122