Revenue from Contracts with Customers - Significant Changes in Contract Liabilities Balance (Details) - USD ($) $ in Thousands |
12 Months Ended | |
---|---|---|
Dec. 31, 2022 |
Dec. 31, 2021 |
|
Revenue from Contract with Customer [Abstract] | ||
Revenue recognized included in beginning of period balance | $ (7,849) | $ (6,095) |
Cash received, excluding amounts recognized as revenue during the period | $ 7,519 | $ 28,005 |