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Revenue - Additional Information (Details) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Disaggregation Of Revenue [Line Items] |  |  |
Contract liabilities | $ 7,216 | $ 1,264 | $ 3,982
Contract liability, revenue recognized | $ 400 | $ 3,500 | $ 19,100
Revenue performance obligation unsatisfied service, period | unfulfilled services under contracts with an original expected duration of more than one year |  |
Contract with customer unsatisfied services | $ 5,700 |  |
Customer Concentration Risk | Revenues | Maximum | Significant Customers | Outside of United States |  |  |
Disaggregation Of Revenue [Line Items] |  |  |
Revenue | 10.00% | 9.00% | 8.00%

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