Revenue - Schedule of Contract Balances (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Short-term contract assets (included in Prepaid expenses and other current assets)	$ 15,554	$ 3,620	$ 2,707
Short-term contract liabilities (included in Other accrued liabilities)	(2,741)	(2,256)	(1,819)
Long-term contract liabilities (included in Noncurrent contract liabilities)	(2,401)	(3,199)	(3,330)
Net contract assets (liabilities)	$ 10,412	$ (1,835)	$ (2,442)