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Revenues - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Revenue from Contract with Customer [Abstract]        
Contract with customer, liability, revenue recognized $ 36,600 $ 35,200 $ 53,000 $ 33,800
Increase in accounts receivable, net     $ 6,965  
Increase in accounts receivable, net, percent     30.00%  
Decrease in contract assets     $ 2,798  
Decrease in contract assets, percent     23.00%  
Increase in deferred revenue     $ 2,633  
Increase in deferred revenue, percent     5.00%