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Revenue - Summary of Deferred Revenue Liability Relating to Set-Up Fees (Details) - Set-Up Fees - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Deferred Revenue Arrangement [Roll Forward]    
Balance, beginning of year $ 14,999 $ 14,459
Invoiced set-up fees 19,146 15,457
Recognized set-up fees (16,542) (14,917)
Balance, end of year $ 17,603 $ 14,999