Revenue Recognition - Summary of Significant Changes in Contract Liability Balances (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Deferred Revenue
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the contract liability balance at the beginning of the period	$ (1,012)	$ (755)
Increases due to cash received, excluding amounts recognized as revenue during the period	1,652	760
Transfers between current and non-current liabilities due to the expected revenue recognition period	576	389
Total increase in contract liabilities	1,216	394
Deferred Revenue, Long-term
Disaggregation of Revenue [Line Items]
Increases due to cash received, excluding amounts recognized as revenue during the period	422	340
Transfers between current and non-current liabilities due to the expected revenue recognition period	(576)	(389)
Total increase in contract liabilities	$ (154)	$ (49)