Revenue Recognition - Contract Assets (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Contract With Customer, Asset, After Allowance for Credit Loss [Roll Forward]
Beginning balance	$ 41,366	$ 46,727
Transferred to accounts receivable from contract assets recognized at the beginning of the period	(18,123)	(10,787)
Revenue recognized and not billed as of the end of the period	10,545	11,838
Ending balance	$ 33,788	$ 47,778