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Revenues - Additional Information (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Disaggregation Of Revenue [Line Items]      
Revenue from Contract with Customer, Excluding Assessed Tax $ 14,231 $ 16,444  
Contract with Customer, Right to Recover Product 100   $ 100
Contract with Customer, Liability, Current 10,600   $ 17,000
Recognized revenue remaining performance obligations 400    
United States      
Disaggregation Of Revenue [Line Items]      
Revenue from Contract with Customer, Excluding Assessed Tax $ 10,000 $ 6,500