Revenue - Contract with Customer (Details) $ in Thousands	12 Months Ended
	Dec. 31, 2023 USD ($)
Contract Assets
Contract asset balance opening balance	$ 33,613
Transfers to receivables from contract assets	9,638
Additions to contract assets	(13,762)
Contract asset balance ending balance	29,489
Contract Liabilities
Contract liabilities opening balance	6,781
Revenue recognized from contract liabilities	(5,121)
Increase in billings in excess of costs, excluding revenue recognized	2,204
Other adjustments, including business divestiture	(1,675)
Contract liabilities ending balance	$ 2,189