Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue
Over time sales, amount	$ 135,910	$ 153,631
Over time sales, percentage	27.30%	29.90%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 67,116	$ 100,787
Over time sales, percentage	13.50%	19.60%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 68,794	$ 52,844
Over time sales, percentage	13.80%	10.30%