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Revenues - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]      
Contract with customer, liability, revenue recognized $ 54,500 $ 33,900 $ 32,600
Contract with customer, liability, revenue recognized, prior period 0 $ 0 $ 4,900
Change, accounts receivable, net $ 7,889    
Change, accounts receivable, net, percent 34.00%    
Change in contract assets $ (3,348)    
Change in contract assets, percent (28.00%)    
Change in deferred revenue $ (937)    
Change in deferred revenue, percent (2.00%)    
Closing balance of deferred contract cost $ 6,000    
Deferred contract cost amortization $ 15,800