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Contract Assets and Contract Liabilities - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]      
Contract liabilities, current $ 13,910 $ 11,956  
Contract liabilities, non-current 2,561 3,047  
Revenue recognized from contract liabilities 28,180 21,600  
Revenue from contract liabilities $ 10,900 $ 12,900 $ 14,600