Share-Based Compensation - Effects of Share-based Compensation expense in the Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 31,920	$ 26,601	$ 24,129
Direct costs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	262	341	306
Sales and marketing
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	2,686	3,083	1,288
Research, development and engineering
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	3,245	2,503	1,984
General, administrative, and other related costs
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation expense	$ 25,727	$ 20,674	$ 20,551