Revenues and Accounts Receivable - Additional Information (Details)	3 Months Ended		6 Months Ended		12 Months Ended
	Jun. 30, 2023 USD ($) Customer	Jun. 30, 2022 Customer	Jun. 30, 2023 USD ($) Customer	Jun. 30, 2022 Customer	Dec. 31, 2022 USD ($)
Accounts Notes And Loans Receivable [Line Items]
Contracts assets acquired through business acquisitions			$ 2,200,000		$ 1,700,000
Contract liabilities acquired through business acquisitions			0		0
Contract with customer liabilities, revenue recognized	$ 500,000		13,300,000
Revenue remaining performance obligations	$ 82,300,000		$ 82,300,000		$ 100,400,000
Customer Concentration Risk | Accounts Receivable | Significant Customer
Accounts Notes And Loans Receivable [Line Items]
Concentration risk percentage			10.00%		10.00%
Customer Concentration Risk | Revenue | Significant Customer
Accounts Notes And Loans Receivable [Line Items]
Concentration risk percentage	12.30%	16.10%	10.40%	16.70%
Number of customers | Customer	1	1	1	1