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Summary of Significant Accounting Policies - Customer Concentration (Details) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2024 USD ($) customer | Dec. 31, 2023 USD ($) customer | Dec. 31, 2022 USD ($) customer
Accounts receivable |  |  |
Customer Concentration |  |  |
Number of customers | customer |  | 1 | 2
Accounts receivable | Customer concentration risk | Customer 1 |  |  |
Customer Concentration |  |  |
Concentration risk (as a percent) |  | 82.00% | 21.00%
Amount of concentration risk |  | $ 2,011 | $ 317
Accounts receivable | Customer concentration risk | Customer 2 |  |  |
Customer Concentration |  |  |
Concentration risk (as a percent) |  |  | 10.00%
Amount of concentration risk |  |  | $ 151
Revenue |  |  |
Customer Concentration |  |  |
Number of customers | customer | 2 | 1 | 2
Revenue | Customer concentration risk | Customer 1 |  |  |
Customer Concentration |  |  |
Concentration risk (as a percent) | 23.00% | 9.00% | 11.00%
Amount of concentration risk | $ 523 | $ 465 | $ 799
Revenue | Customer concentration risk | Customer 2 |  |  |
Customer Concentration |  |  |
Concentration risk (as a percent) | 20.00% | 44.00% | 6.00%
Amount of concentration risk | $ 455 | $ 2,374 | $ 436

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