Accounts Receivable and Contract Assets, Net - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounts Notes And Loans Receivable [Line Items]
Credit loss expense (recovery)	$ 1,564	$ 1,413	$ 3,512
Receivable and Contract Assets
Accounts Notes And Loans Receivable [Line Items]
Credit loss expense (recovery)	$ 2,000	200	$ 4,400
Provision for expected credit losses and credit loss expense		$ 1,400