Revenues - Additional Information (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Apr. 02, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	$ 29,950	$ 31,062	$ 29,295	$ 33,243
Contract with customer, deferred revenues, current	22,400
Contract with customer, deferred revenues, noncurrent	7,500
Service-Type Warranties
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	10,600
Contract with customer, deferred revenues, current	5,500
Contract with customer, deferred revenues, noncurrent	$ 5,100