What is the better design practice?

If I have object A and it contains some related objects for example I have a car object and it's various types.

Should I on request api.example.org/cars/1 respond just with ID's to those resources (so if someone need details about them another API call is required at api.example.org/type/1)

{
    "id": 1,
    "name": "Some Car",
    "types": [
        1,
        2
    ]
}

or provide details about those resources as well

{
    "id": 1,
    "name": "Some Car",
    "types": [
        {
            "id": 1,
            "name": "Some Type",
            "something": "Blah"
        },
        {
            "id": 2,
            "name": "Some Type",
            "something": "Blah"
        }
    ]
}

Or provide optional parameter like "displayAll" and then array with names of parameters which should be retrieved all in one API call (in this case types).

json design-patterns rest
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