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Revenue Recognition - Remaining Performance Obligation (Details) - USD ($) $ in Thousands | Mar. 31, 2024 | Dec. 31, 2023 | Mar. 31, 2023 | Dec. 31, 2022
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Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | $ 16,193 | $ 11,454 | $ 13,702 | $ 13,584
Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 315,426 | $ 326,000 |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01 | Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 192,342 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2025-04-01 | Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 87,865 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2026-04-01 | Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | 16,996 |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2027-04-01 | Government |  |  |  |
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items] |  |  |  |
Performance obligations | $ 18,223 |  |  |

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- Definition Amount of transaction price allocated to performance obligation that has not been recognized as revenue. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Name Accounting Standards Codification -Section 50 -Paragraph 13 -Subparagraph (a) -SubTopic 10 -Topic 606 -Publisher FASB -URI https://asc.fasb.org//1943274/2147479806/606-10-50-13 + Details
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