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Revenue Recognition - Summary of Changes in Contract Liabilities (Details)
$ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]  
Balance as of December 31, 2021 $ 60,232
Reclassification to revenue, as the result of performance obligations satisfied (50,931)
Cash received for cost reimbursement 4,258
Increase in accounts receivable 194
Balance as of December 31, 2022 $ 13,753