Revenue - Allowance for Credit Loss (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Accounts Receivable, Allowance for Credit Loss [Roll Forward]
Allowance for credit loss, beginning balance	$ 4,656	$ 4,930
Additions charged to expense	2,050	1,761
Deductions/write-offs	(2,240)	(2,035)
ASU 2016-13 (Topic 326) adjustment	(294)
Allowance for credit loss, ending balance	$ 4,172	$ 4,656