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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]    
Accrued revenue $ 1,935 $ 1,801
Costs and estimated profits in excess of billings 10,488 13,365
Contract assets - current 12,423 15,166
Contract assets - noncurrent 1,070 1,828
Contract assets 13,493 16,994
Increase (decrease) in contract with customer assets $ (3,501)  
Increase (decrease) in contract with customer assets (as percent) (21.00%)  
Contract with Customer, Liability [Abstract]    
Deferred revenue $ 10,276 10,551
Billings in excess of costs and profits recognized 4,480 4,221
Contract liabilities 14,756 $ 14,772
Increase (decrease) in contract with customer liabilities $ (16)  
Increase (decrease) in contract with customer liability (as percent) 0.00%