Revenue - Contract Balances (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023
Disaggregation of Revenue [Line Items]
Unbilled receivables (contract assets)	$ 68,685		$ 59,652
Unbilled receivables (contract assets), $ Change	$ 9,033
Unbilled receivables (contract assets), % Change	15.00%
Contract liabilities	$ (38,093)		(42,428)
Contract liabilities, $ Change	$ 4,335
Contract liabilities, % Change	(10.00%)
Net contract assets	$ 30,592		17,224
Net contract assets, $ Change	$ 13,368
Net contract assets, % change	78.00%
Customer advances	$ 11,014		$ 10,032
Revenue recognized	55.00%	40.00%