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Revenue Recognition - Narrative (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Disaggregation of Revenue [Line Items] |  |  |
Impairment charges related to contract assets | $ 0 | $ 0 | $ 0
Short-Term Unbilled Receivables |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Unbilled receivables, not billable | 9,100,000 | $ 7,000,000 |
Long-Term Unbilled Receivables |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Unbilled receivables, not billable | $ 800,000 |  |
Minimum | Accounts Receivable |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Payment terms | 30 days |  |
Maximum | Accounts Receivable |  |  |
Disaggregation of Revenue [Line Items] |  |  |
Payment terms | 90 days |  |

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