Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Disaggregation of Revenue
Over time sales, amount	$ 35,746	$ 37,164	$ 64,870	$ 69,690
Over time sales, percentage	25.40%	25.10%	24.50%	26.40%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 14,096	$ 15,724	$ 27,239	$ 31,935
Over time sales, percentage	10.00%	10.60%	10.30%	12.10%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 21,650	$ 21,440	$ 37,631	$ 37,755
Over time sales, percentage	15.40%	14.50%	14.20%	14.30%