Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Disaggregation of Revenue
Over time sales, amount	$ 148,720	$ 135,910
Over time sales, percentage	27.40%	27.30%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 59,864	$ 67,116
Over time sales, percentage	11.10%	13.50%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 88,856	$ 68,794
Over time sales, percentage	16.30%	13.80%