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Revenue - Schedule of Allowance for Credit Losses (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Accounts Receivable |  |  |
Accounts Notes And Loans Receivable [Line Items] |  |  |
Beginning balance | $ 1,950 | $ 2,255 | $ 6,454
Provision for credit losses | 497 | 799 | 714
Recoveries/charge-off | (541) | (1,104) | (4,913)
Balance at end of period | 1,906 | 1,950 | 2,255
Unbilled Contracts Receivable |  |  |
Accounts Notes And Loans Receivable [Line Items] |  |  |
Beginning balance | 369 | 468 | 1,414
Provision for credit losses | 52 | (99) | 38
Recoveries/charge-off | (231) |  | (984)
Balance at end of period | $ 190 | $ 369 | $ 468

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