Annual report pursuant to Section 13 and 15(d)

Revenue Recognition - Narrative (Details)

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Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Disaggregation of Revenue [Line Items]      
Contract assets $ 1,271 $ 360 $ 0
Revision of Prior Period, Adjustment      
Disaggregation of Revenue [Line Items]      
Contract assets 911 $ 360  
Other Current Assets      
Disaggregation of Revenue [Line Items]      
Contract assets partially offset amount 8,300    
Other Current Assets | Revision of Prior Period, Adjustment      
Disaggregation of Revenue [Line Items]      
Contract assets $ 9,200