Revenue Recognition - Narrative (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Increase (decrease) in contract asset	$ 6,322	$ 631
Increase (decrease) in contract liabilities	1,804	3,957
Contract liabilities, due to advance payments	10,434
Revenue recognized from contract liabilities	8,630
Contract liabilities, current	3,070	3,850
Contract liabilities, long-term	3,540	$ 956
Contract assets, current	6,386
Contract assets, long-term	$ 1,936
Revenue Benchmark | Customer 1 | Customer Concentration Risk
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Concentration risk percentage	49.90%	80.80%
Revenue Benchmark | Customer 2 | Customer Concentration Risk
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]
Concentration risk percentage	45.20%