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Revenue Recognition - Narrative (Details) - USD ($)	12 Months Ended
	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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