Revenue - Schedule of Opening and Closing Balances of Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Contract With Customer Asset [Roll Forward]
Contract assets, current	$ 14,132	$ 15,395
Contract assets, non-current	2,471	2,575
Contract with customer, asset, total	16,603	17,970	$ 9,907
Contract with Customer, Liability [Roll Forward]
Contract liabilities, current	3,127	1,993
Contract liabilities, non-current	805	1,015
Contract with customer, liability, total	$ 3,932	$ 3,008	$ 898