Revenue - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Disaggregation of Revenue
Deferred revenue	$ 12,479	$ 19,452
Reduction in net sales	(543,744)	(497,497)
Changes in actual and expected values of commercial contracts
Disaggregation of Revenue
Reduction in net sales	8,718	4,800
Commercial contracts | Changes in actual and expected values of commercial contracts
Disaggregation of Revenue
Reduction in net sales	$ 2,987	$ 3,956
Point in time
Disaggregation of Revenue
Customer revenue transferred (percentage)	72.60%	72.70%
Reduction in net sales	$ (395,024)	$ (361,587)