Consolidated Balance Sheets (Parenthetical) - USD ($) $ in Thousands	Jun. 30, 2024	Dec. 31, 2023
Statement of Financial Position [Abstract]
Accounts receivable, net of allowance	$ 18,042	$ 14,926
Contract assets, net of allowance	$ 37	$ 35
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common stock, authorized (in shares)	250,000,000	250,000,000
Common stock, issued (in shares)	63,808,097	62,660,783
Common stock, outstanding (in shares)	36,294,269	35,302,746
Treasury stock (in shares)	27,513,828	27,358,037