Revenue, Performance Obligations and Contract Balances - Summary of Contract Asset and Liability (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023
Contract Assets
Total contract assets	$ 7,082	$ 7,676
Contract Liabilities
Contract liabilities	4,097	4,089
Contract liabilities, less current portion	2,752	2,731
Total contract liabilities	6,849	6,820
Prepaid Expenses and Other Current Assets [Member]
Contract Assets
Total contract assets	2,893	2,893
Other Long-term Assets [Member]
Contract Assets
Total contract assets	$ 4,189	$ 4,783

Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 3
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-3

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 45
-Paragraph 1
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479837/606-10-45-1

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Topic 606
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 8
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479806/606-10-50-8

Name:	us-gaap_ContractWithCustomerAssetNet
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant