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Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Revenue from Contract with Customer [Abstract]      
Billed accounts receivable $ 48,571 $ 26,669 $ 24,200
Unbilled receivables 16,713 13,533 3,800
Retainage 2,004 4,830 $ 2,800
Deferred revenue $ 1,800 $ 200  
Contract with customer, liability, revenue recognized, percentage 100.00% 100.00%