Accounts Receivable and Contract Assets, Net - Schedule of Changes in Allowance for Credit Losses for Accounts Receivable (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Allowance for Credit Loss [Abstract]
Balance, beginning of period	$ (7,312)	$ (6,922)	$ (3,788)
Provision for expected credit losses, net	(1,564)	(1,413)	(3,512)
Write-offs	2,743	1,023	378
Balance, end of period	$ (6,133)	$ (7,312)	$ (6,922)