Revenue from Contracts with Customers - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Contract liability	$ 67,956,000	$ 72,572,000
Revenue recognized related to contract liabilities	0	0	$ 0
Capitalized contract cost	66,669,000	59,015,000
Amortization of capitalized contract costs	$ 61,327,000	$ 55,520,000	$ 61,681,000