Revenue Recognition - Revenues related to contract liabilities (Details) - USD ($) $ in Thousands |
3 Months Ended | 6 Months Ended | ||
|---|---|---|---|---|
Jun. 30, 2024 |
Jun. 30, 2023 |
Jun. 30, 2024 |
Jun. 30, 2023 |
|
| Revenue Recognition | ||||
| Amounts included in the beginning of period contract liabilities balance | $ 4,474 | $ 2,560 | $ 16,885 | $ 6,560 |
| Amounts associated with performance obligations satisfied in previous periods | $ 0 | $ 0 | $ 42 | $ 25 |