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Related Party Transactions - Schedule of Related Party Transactions (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Related Party Transaction [Line Items]          
Contract Assets $ 27,095   $ 27,095   $ 28,238
Total revenue 17,375 $ 12,917 27,619 $ 22,563  
Licensing          
Related Party Transaction [Line Items]          
Total revenue 8,541 815 9,121 1,369  
Engineering and other services          
Related Party Transaction [Line Items]          
Total revenue 5,122 8,878 9,578 14,678  
Equity Method Investee | Transactions with Equity Method Investees          
Related Party Transaction [Line Items]          
Accounts receivable 2,447   2,447   2,190
Contract Assets 300   300   659
Notes receivable 5,610   5,610   5,436
Accounts payable 157   157   $ 582
Related Party | Licensing          
Related Party Transaction [Line Items]          
Total revenue 8,541 815 9,121 1,369  
Related Party | Engineering and other services          
Related Party Transaction [Line Items]          
Total revenue $ 332 $ 261 $ 660 $ 680