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Revenue Recognition - Additional Information (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items]    
Receivables, included in trade receivables $ 148,429 $ 144,428
Unbilled receivables 148,429 144,428
Performance obligation 43,000  
Receivables (Included in Trade Receivables)    
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items]    
Receivables, included in trade receivables 148,400 144,400
Unbilled receivables $ 90,200 $ 92,600