Revenue and Customers - Contract Assets, and Contract Liabilities with Customers (Details) - USD ($) $ in Thousands	Mar. 31, 2024	Dec. 31, 2023	Mar. 31, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Current customer contract assets	$ 5,288	$ 4,208
Noncurrent customer contract assets	169	208
Total customer contract assets	5,457	4,416	$ 12,930	$ 11,537
Current deferred revenue	(24,458)	(19,679)
Noncurrent deferred revenue	(35,317)	(23,393)
Total deferred revenue	$ (59,775)	$ (43,072)	$ (54,562)	$ (59,797)