Revenue Recognition (Details) - Revenues as a result of changes in the contract asset and the contract liability - USD ($)	3 Months Ended	6 Months Ended
Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Revenue Recognition (Details) - Revenues as a result of changes in the contract asset and the contract liability [Line Items]
Amounts included in the contract liability at the beginning of the period	$ 378,000	$ 570,000	$ 144,000	$ 951,000
Performance obligations satisfied in previous periods (for example, due to changes in transaction price)

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.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (b)
-Publisher FASB
-URI https://asc.fasb.org/1943274/2147479806/606-10-50-8

Name:	us-gaap_ContractWithCustomerLiabilityRevenueRecognized
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration