Revenue - Contract with Customer (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($)
Contract With Customer Asset After Allowance For Credit Loss Current [Roll Forward]
Balance as of December 31, 2023	$ 29,489
Net additions to contract assets	4,212
Transfers from contract asset balance to accounts receivable	(9,560)
Balance as of March 31, 2024	24,141
Contract With Customer Liability [Roll Forward]
Balance as of December 31, 2023	2,189
Revenue recognized from contract liabilities	(1,467)
Increase in billings in excess of cost, excluding revenue recognized	1,850
Other adjustments	317
Balance as of March 31, 2024	$ 2,889