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Revenues - Contract Balances (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Accounts receivable, net $ 31,404 $ 23,515
Change, accounts receivable, net $ 7,889  
Change, accounts receivable, net, percent 34.00%  
Contract assets $ 8,598 11,946
Change in contract assets $ (3,348)  
Change in contract assets, percent (28.00%)  
Deferred revenue $ 55,336 $ 56,273
Change in deferred revenue $ (937)  
Change in deferred revenue, percent (2.00%)