Revenues - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Revenue Recognition [Line Items]
Accounts receivable, net	$ 46,358	$ 42,631
Contract with customer, receivable, after allowance for credit loss	18,800	16,100
Revenue recognized that was included in the contract liability	4,100	6,400	$ 13,200
Future revenues under contract	645,000
Contracts currently being invoiced	589,000
Backlog for sales bookings	$ 56,000
Average remaining contract term of backlog sales bookings	5 years 2 months 12 days
Operating Lease Receivable
Revenue Recognition [Line Items]
Accounts receivable, net	$ 22,000	$ 26,200
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date: 2024-01-01
Revenue Recognition [Line Items]
Average remaining contract term for contracts currently billing	3 years 3 months 18 days