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Revenue Recognition - Narrative (Details) - USD ($)
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Disaggregation of Revenue [Line Items]      
Impairment charges related to contract assets $ 0 $ 0  
Short-Term Unbilled Receivables      
Disaggregation of Revenue [Line Items]      
Unbilled receivables, not billable   5,500,000 $ 9,100,000
Long-Term Unbilled Receivables      
Disaggregation of Revenue [Line Items]      
Unbilled receivables, not billable   $ 900,000 $ 800,000