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Details of Selected Balance Sheet Accounts - Accounts Receivable (Details) - USD ($)
$ in Thousands
 3 Months Ended 12 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 205,134 $ 207,708
Allowance for doubtful accounts (4,369) (4,497)
Accounts receivable, net $ 200,765 $ 203,211
Allowance for doubtful accounts as a percentage of total accounts receivable 2.00% 2.00%
Trade    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 134,870 $ 128,405
Unbilled revenue    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 23,815 27,756
Contract assets    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 41,355 46,746
Other    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 5,094 $ 4,801