Summary of Significant Accounting Policies - Trade receivables (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Allowance for Doubtful Accounts Receivable [Roll Forward]
Allowance for doubtful accounts, beginning balance	$ 4,963	$ 4,256	$ 3,443
Charged to costs and expenses	14,786	1,674	1,987
Amounts charged off, net	(14,708)	(967)	(1,174)
Allowance for doubtful accounts, ending balance	$ 5,041	$ 4,963	$ 4,256