Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue
Over time sales, amount	$ 32,526	$ 30,303
Over time sales, percentage	28.20%	30.70%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 16,211	$ 19,322
Over time sales, percentage	14.00%	19.60%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 16,315	$ 10,981
Over time sales, percentage	14.10%	11.10%