Quarterly report pursuant to Section 13 or 15(d)

Revenue - Narrative (Details)

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Revenue - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Dec. 31, 2023
Disaggregation of Revenue [Line Items]    
Contract assets $ 1,332 $ 1,271
Other Current Assets    
Disaggregation of Revenue [Line Items]    
Contract assets partially offset amount 2,800  
Revision of Prior Period, Adjustment    
Disaggregation of Revenue [Line Items]    
Contract assets 61  
Revision of Prior Period, Adjustment | Other Current Assets    
Disaggregation of Revenue [Line Items]    
Contract assets $ 2,900