Revenue from Contracts with Customers - Deferred Revenue (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Contract with Customer, Liability [Roll Forward]
Beginning of the period contract liability	$ 7,084	$ 9,448
Revenue recognized from contract liabilities included in the beginning balance	(4,045)	(4,739)
Increases due to cash received, net of amounts recognized in revenue during the period	4,441	2,375
End of the period contract liability	$ 7,480	$ 7,084