Revenue - Additional Information (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation Of Revenue [Line Items]
Contract liabilities	$ 7,216	$ 1,264	$ 3,982
Contract liability, revenue recognized	$ 400	$ 3,500	$ 19,100
Revenue performance obligation unsatisfied service, period	unfulfilled services under contracts with an original expected duration of more than one year
Contract with customer unsatisfied services	$ 5,700
Customer Concentration Risk \| Revenues \| Maximum \| Significant Customers \| Outside of United States
Disaggregation Of Revenue [Line Items]
Revenue	10.00%	9.00%	8.00%

Contract with customer unsatisfied services revenue.

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Revenue performance obligation unsatisfied service, period description.

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For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable.

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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

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