Accounts Receivable and Contract Assets, Net - Schedule of Accounts Receivable, Net (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Accounts Receivable, after Allowance for Credit Loss [Abstract]
Accounts receivable amortized cost	$ 125,522	$ 127,298
Allowance for credit losses	(6,133)	(7,312)	$ (6,922)	$ (3,788)
Net accounts receivable	$ 119,389	$ 119,986