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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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