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Revenues - Schedule of Changes in Contract Asset and Contract Liabilities (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]
Accrued revenue	$ 1,801	$ 665
Costs and estimated profits in excess of billings	13,365	15,139
Contract assets - current	15,166	15,804
Contract assets - non-current	1,828	2,638
Contract assets	16,994	18,442
Increase (decrease) in contract with customer assets	$ (1,448)
Increase (decrease) in contract with customer asset, percentage	(8.00%)
Contract with Customer, Liability [Abstract]
Deferred revenue	$ 10,551	14,401
Billings in excess of costs and profits recognized	4,221	305
Contract liabilities	14,772	$ 14,706
Increase (decrease) in contract with customer liabilities	$ 66
Increase (decrease) in contract with customer liabilities, percent	0.00%

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