Revenue - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Largest customer | Accounts receivable | Customer Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration risk	19.00%
Second largest customer | Accounts receivable | Customer Concentration Risk
Disaggregation of Revenue [Line Items]
Concentration risk		38.00%
Contract revenue
Disaggregation of Revenue [Line Items]
Revenue recognized from previously recorded contract liabilities	$ 1,734	$ 1,253	$ 1,665