Revenue from Contracts with Customers - Schedule of Accounts, Notes, Loans and Financing Receivable (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Accounts receivable	$ 11,928	$ 8,235
Unbilled services	4,123	3,555
Total accounts receivable and unbilled services	16,051	11,790
Allowance for doubtful accounts	(1,219)	(798)
Total accounts receivable and unbilled services, net	$ 14,832	$ 10,992