Leases - Weighted-average remaining lease term, incremental borrowing rate, and supplemental cash flow information (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Weighted average remaining lease term
Operating leases	3 years 4 months 24 days	4 years 2 months 12 days
Financing leases	2 years 8 months 12 days	3 years 2 months 12 days
Weighted average incremental borrowing rate
Operating leases	7.85%	7.85%
Financing leases	10.17%	9.11%
Cash payments of amounts included in lease liabilities
Operating cash flows from operating leases	$ 1,398	$ 1,533
Operating cash flows from finance leases	65	64
Financing cash flows from finance leases	$ 354	$ 321