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Revenue Recognition - Additional Information (Details) - USD ($) $ in Thousands | Dec. 31, 2023 | Dec. 31, 2022
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Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items] |  |
Receivables, included in trade receivables | $ 144,191 | $ 138,592
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 | 144,200 | 138,600
Unbilled receivables | $ 90,200 | $ 92,600

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