Summary of Significant Accounting Policies - Accounts Receivable (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Dec. 31, 2022
Accounting Policies [Abstract]
Trade receivables	$ 71,268	$ 75,410
Unbilled receivables	10,767	10,405
Other receivables	255	354
Allowances for credit losses	(1,341)	(1,312)	$ (1,250)
Accounts receivable, net	$ 80,949	$ 84,857