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Revenue Recognition - Narratives (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2024
Jun. 30, 2023
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]          
Increase (decrease) in contract asset     $ 4,552 $ 106  
Increase (decrease) in contract liabilities     2,592 $ (1,471)  
Revenue recognized in contract liabilities     863    
Increase from customer advance payments     3,455    
Contract liabilities, current $ 4,814   4,814   $ 3,070
Contract liabilities, long-term 4,388   4,388   $ 3,540
Contract assets, current 11,107   11,107    
Contract assets, long-term $ 1,767   $ 1,767    
Revenue Benchmark | Customer 1 | Customer Concentration Risk          
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]          
Concentration risk percentage 87.00% 100.00% 88.00% 97.80%