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Revenue from Contracts with Customers - Significant Changes in Contract Liabilities Balance (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2024
Sep. 30, 2023
Sep. 30, 2024
Sep. 30, 2023
Revenue from Contract with Customer [Abstract]        
Revenue recognized included in beginning of period balance $ (2,120) $ (3,351) $ (8,733) $ (8,264)
Cash received, excluding amounts recognized as revenue during the period $ 2,733 $ 1,656 $ 6,611 $ 6,613