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Revenue - Schedule of Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
Dec. 31, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Accounts receivable, net $ 16,642 $ 18,468
Short-term contract liabilities 1,264 3,982
Total contract liabilities 1,264 3,982
Accounts receivable, net 17,730 16,642
Short-term contract liabilities 3,288 1,264
Long-term contract liabilities (included in other long-term liabilities) 3,928  
Total contract liabilities $ 7,216 $ 1,264