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Revenue - Disaggregation of Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disaggregation of Revenue [Line Items]        
Total revenue $ 57,683 $ 37,626 $ 171,399 $ 107,198
Service revenue:        
Disaggregation of Revenue [Line Items]        
Total revenue 53,643 33,301 155,245 95,693
Duplex        
Disaggregation of Revenue [Line Items]        
Total revenue 7,978 9,021 20,088 22,103
SPOT        
Disaggregation of Revenue [Line Items]        
Total revenue 11,350 11,753 33,703 34,544
Commercial IoT        
Disaggregation of Revenue [Line Items]        
Total revenue 6,347 4,673 16,881 14,381
Wholesale capacity services        
Disaggregation of Revenue [Line Items]        
Total revenue 27,517 6,972 83,406 22,640
Engineering and other services        
Disaggregation of Revenue [Line Items]        
Total revenue 451 882 1,167 2,025
Subscriber equipment sales:        
Disaggregation of Revenue [Line Items]        
Total revenue 4,040 4,325 16,154 11,505
SPOT        
Disaggregation of Revenue [Line Items]        
Total revenue 1,746 1,558 6,185 4,707
Commercial IoT        
Disaggregation of Revenue [Line Items]        
Total revenue 2,262 2,713 9,975 6,427
Other        
Disaggregation of Revenue [Line Items]        
Total revenue $ 32 $ 54 $ (6) $ 371