Revenue - Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets - current	$ 1,461	$ 621
Contract assets - non-current	9,397	1,323
Total contract assets	10,858	1,944
Deferred revenue	11,829	17,048
Deferred revenue - non-current	4,071	4,202
Total deferred revenue	15,900	21,250
Prepaid expenses and other current assets
Disaggregation of Revenue [Line Items]
Contract assets - current	1,461	621
Other assets
Disaggregation of Revenue [Line Items]
Contract assets - non-current	9,397	1,323
Accrued expenses and other current liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue	11,829	17,048
Other liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - non-current	$ 4,071	$ 4,202