Revenue Recognition - Narrative (Details) - USD ($)	3 Months Ended
Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Revenue from Contract with Customer [Abstract]
Contract liability, revenue recognized	$ 92,561,000	$ 104,035,000
Accounts receivable	3,350,000		$ 4,528,000
Impairment of capitalized costs	0	$ 0
Remaining performance obligation	$ 565,545,000
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-04-01
Disaggregation of Revenue [Line Items]
Remaining performance obligation, percentage	50.00%
Remaining performance obligation, timing of satisfaction	12 months

Amount, after allowance for credit loss, of right to consideration from customer for product sold and service rendered in normal course of business, classified as current.

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Amount of impairment loss for asset recognized from cost incurred to obtain or fulfill contract with customer.

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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount of transaction price allocated to performance obligation that has not been recognized as revenue.

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Period in which remaining performance obligation is expected to be recognized as revenue, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Percentage of remaining performance obligation to total remaining performance obligation not recognized as revenue.

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