Revenue - Schedule of Revenue by Timing of Recognition (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Revenue	$ 521,334	$ 502,260	$ 486,483
Recognized over time
Disaggregation of Revenue [Line Items]
Revenue	410,865	401,668	412,334
Recognized at a point in time
Disaggregation of Revenue [Line Items]
Revenue	$ 110,469	$ 100,592	$ 74,149