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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2024	Dec. 31, 2023
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]
Accrued revenue	$ 1,615	$ 1,801
Costs and estimated profits in excess of billings	12,715	13,365
Contract assets - current	14,330	15,166
Contract assets - noncurrent	441	1,828
Contract assets	14,771	16,994
Increase (decrease) in contract with customer assets	$ (2,223)
Increase (decrease) in contract with customer assets (as percent)	(13.00%)
Contract with Customer, Liability [Abstract]
Deferred revenue	$ 10,331	10,551
Billings in excess of costs and profits recognized	4,213	4,221
Contract liabilities	14,544	$ 14,772
Increase (decrease) in contract with customer liabilities	$ (228)
Increase (decrease) in contract with customer liability (as percent)	(2.00%)

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