Revenue - Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Disaggregation of Revenue [Line Items]
Total contract assets	$ 12,330	$ 10,858
Deferred revenue - current	10,265	11,829
Total deferred revenue	13,391	15,900
Prepaid expenses and other current assets
Disaggregation of Revenue [Line Items]
Contract assets - current	1,487	1,461
Other assets
Disaggregation of Revenue [Line Items]
Contract assets - non-current	10,843	9,397
Accrued expenses and other current liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - current	10,265	11,829
Other liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - non-current	$ 3,126	$ 4,071