Revenue - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue
Refund asset	$ 299	$ 0
Refund liability	327	0
Variable consideration	0	0	$ 0
Contract liability, current	214	163
Contract liability, non-current	245	0
Other long-term liabilities	814	246
Deferred revenue on consolidated balance sheet	163	$ 1,644
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Disaggregation of Revenue
Remaining unearned revenue	$ 214
Revenue recognized over remaining contract term	1 year
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-01-01
Disaggregation of Revenue
Remaining unearned revenue	$ 245
Revenue recognized over remaining contract term	1 year

Revenue from Contract with Customer, Refund Asset

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Revenue from Contract with Customer, Refund Liability

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Variable Consideration Related to Previously Recognized Sales

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as current.

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as noncurrent.

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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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Period in which remaining performance obligation is expected to be recognized as revenue, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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