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Revenue from Contracts with Customers - Summary of Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Thousands
Mar. 31, 2024
Dec. 31, 2023
Contract With Customer Asset And Liability [Line Items]    
Contract liabilities $ 2,409 $ 2,520
Prepaid expenses and other assets [Member]    
Contract With Customer Asset And Liability [Line Items]    
Contract assets [1] $ 723 $ 756
[1] Contract assets are included within prepaid expenses and other assets in our consolidated balance sheet.