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Revenue - Schedule of Allowance for Credit Losses (Details) - USD ($)
$ in Thousands
 12 Months Ended
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