Revenue Recognition - Summary of Significant Changes in Contract Liability Balances (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023
Deferred Revenue
Disaggregation of Revenue [Line Items]
Revenue recognized that was included in the contract liability balance at the beginning of the period	$ (1,117)	$ (928)
Increases due to cash received, excluding amounts recognized as revenue during the period	1,867	1,226
Transfers between current and non-current liabilities due to the expected revenue recognition period	748	449
Total increase in contract liabilities	1,498	747
Deferred Revenue, Long-term
Disaggregation of Revenue [Line Items]
Increases due to cash received, excluding amounts recognized as revenue during the period	901	595
Transfers between current and non-current liabilities due to the expected revenue recognition period	(748)	(449)
Total increase in contract liabilities	$ 153	$ 146