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Summary of Significant Accounting Policies - Concentration of Risk (Details) - customer | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Total revenue | Customer concentration risk |  |  |
Concentration of Risk |  |  |
Number of customers | 2 | 2 | 2
Total revenue | Customer concentration risk | Ten largest customers |  |  |
Concentration of Risk |  |  |
Number of customers | 10 | 10 | 10
Percentage of concentration risk | 59.40% | 69.50% | 74.00%
Total revenue | Customer concentration risk | First customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk | 13.10% | 17.80% | 17.90%
Total revenue | Customer concentration risk | Second customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk | 11.50% | 15.40% | 16.40%
Accounts receivable | Credit concentration risk |  |  |
Concentration of Risk |  |  |
Number of customers | 2 | 2 |
Accounts receivable | Credit concentration risk | First customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk | 19.40% | 29.10% |
Accounts receivable | Credit concentration risk | Second customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk | 11.50% | 13.60% |

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