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Revenue - Contract Assets and Liabilities (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Revenue from Contract with Customer [Abstract]    
Contract assets $ 621 $ 19
Contract liabilities 38,150 30,544
Contract with Customer, Liability    
Revenue recognized in the period from amounts included in contract liability at the beginning of the period $ 28,616 $ 26,274