Revenue - Contract Balances (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023
Disaggregation of Revenue [Line Items]
Unbilled receivables (contract assets)	$ 69,246		$ 69,246		$ 59,652
Unbilled receivables (contract assets), $ Change			$ 9,594
Unbilled receivables (contract assets), % Change			16.00%
Contract liabilities	(50,924)		$ (50,924)		(42,428)
Contract liabilities, $ Change			$ (8,496)
Contract liabilities, % Change			20.00%
Net contract assets	18,322		$ 18,322		17,224
Net contract assets, $ Change			$ 1,098
Net contract assets, % change			6.00%
Customer advances	$ 19,416		$ 19,416		$ 10,032
Revenue recognized	20.00%	30.00%	75.00%	70.00%