Revenue Recognition - Contract Assets (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Contract With Customer, Asset, After Allowance for Credit Loss [Roll Forward]
Beginning balance	$ 47,778	$ 13,533	$ 46,727	$ 25,201
Transferred to accounts receivable from contract assets recognized at the beginning of the period	(23,228)	(1,387)	(27,404)	(15,963)
Revenue recognized and not billed as of the end of the period	10,632	21,228	15,859	24,136
Ending balance	$ 35,182	$ 33,374	$ 35,182	$ 33,374