Income Taxes - Schedule of Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred income tax assets:
Net operating loss carryforwards	$ 15,409	$ 16,763
Tax credits	23,197	18,497
Compensation	15,478	15,272
Deferred revenue	9,873	10,168
Operating lease	8,297	10,202
Capitalized research and development	16,903	23,891
Deferred interest	17,822	6,829
Other	951	2,704
Gross deferred income tax assets	107,930	104,326
Less: valuation allowance	(12,963)	(11,384)
Net deferred income tax assets	94,967	92,942
Deferred income tax liabilities:
Depreciation and amortization	(31,741)	(33,692)
Operating lease right-of-use asset	(7,303)	(8,885)
Unbilled revenue	(5,407)	(9,566)
Withholding tax liability	(32,752)	(27,432)
Total deferred income tax liabilities	(77,203)	(79,575)
Net deferred income taxes	17,764	13,367
Deferred income taxes / liabilities included in the balance sheet are:
Deferred income tax asset – noncurrent	58,499	53,738
Deferred income tax liability – noncurrent	(40,735)	(40,371)
Net deferred income taxes	$ 17,764	$ 13,367