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Revenue - Over Time Sales (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Disaggregation of Revenue        
Over time sales, amount $ 35,746 $ 37,164 $ 64,870 $ 69,690
Over time sales, percentage 25.40% 25.10% 24.50% 26.40%
Over time input method        
Disaggregation of Revenue        
Over time sales, amount $ 15,864 $ 15,724 $ 29,007 $ 31,935
Over time sales, percentage 11.30% 10.60% 10.90% 12.10%
Over time output method        
Disaggregation of Revenue        
Over time sales, amount $ 19,882 $ 21,440 $ 35,863 $ 37,755
Over time sales, percentage 14.10% 14.50% 13.50% 14.30%