Revenue from Contracts with Customers - Additional Information (Details) $ in Thousands	3 Months Ended
	Mar. 31, 2024 USD ($) segment	Mar. 31, 2023 USD ($)	Dec. 31, 2023 USD ($)
Revenue from Contract with Customer [Abstract]
Contract with customer, asset balances	$ 25,400		$ 30,600
Deferred revenue, revenue recognized	100	$ 700
Income recognized	$ 3,978	$ 214
Number of Reportable Segments | segment	2
Purchase order	$ 5,800		$ 3,100