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Summary of Significant Accounting Policies - Concentration of Risk (Details) - customer | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Total revenue | Customer concentration risk |  |  |
Concentration of Risk |  |  |
Number of customers | 0 | 2 | 2
Total revenue | Customer concentration risk | Ten largest customers |  |  |
Concentration of Risk |  |  |
Number of customers | 10 | 10 | 10
Percentage of concentration risk | 51.70% | 59.40% | 69.50%
Total revenue | Customer concentration risk | First customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk |  | 13.10% | 17.80%
Total revenue | Customer concentration risk | Second customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk | 10.00% | 11.50% | 15.40%
Accounts receivable | Credit concentration risk |  |  |
Concentration of Risk |  |  |
Number of customers | 1 | 2 |
Accounts receivable | Credit concentration risk | First customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk | 12.20% | 19.40% |
Accounts receivable | Credit concentration risk | Second customer |  |  |
Concentration of Risk |  |  |
Percentage of concentration risk |  | 11.50% |

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