Revenue Recognition - Additional Information (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items]
Receivables, included in trade receivables	$ 144,191	$ 138,592
Unbilled receivables	148,429	144,428
Performance obligation	43,000
Receivables (Included in Trade Receivables)
Revenue Remaining Performance Obligation Expected Timing Of Satisfaction [Line Items]
Receivables, included in trade receivables	144,200	138,600
Unbilled receivables	$ 90,200	$ 92,600