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Summary of Significant Accounting Policies - Allowance for credit losses (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Allowance for credit loss roll forward        
Balance at beginning of period $ 3,356 $ 2,516 $ 2,915 $ 3,023
Charged to selling, general and administrative expense 585 156 1,026 653
Write-offs       (1,004)
Total $ 3,941 $ 2,672 $ 3,941 $ 2,672
Minimum        
Accounts Receivable and Allowance for Credit Losses        
Accounts receivable generally outstanding duration     30 days  
Maximum        
Accounts Receivable and Allowance for Credit Losses        
Accounts receivable generally outstanding duration     60 days