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Revenue - Over Time Sales (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022
Disaggregation of Revenue |  |
Over time sales, amount | $ 148,720 | $ 135,910
Over time sales, percentage | 27.40% | 27.30%
Over time input method |  |
Disaggregation of Revenue |  |
Over time sales, amount | $ 59,864 | $ 67,116
Over time sales, percentage | 11.10% | 13.50%
Over time output method |  |
Disaggregation of Revenue |  |
Over time sales, amount | $ 88,856 | $ 68,794
Over time sales, percentage | 16.30% | 13.80%

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