Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Disaggregation of Revenue
Over time sales, amount	$ 37,164	$ 36,102	$ 69,690	$ 66,405
Over time sales, percentage	25.10%	27.50%	26.40%	28.80%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 15,724	$ 20,089	$ 31,935	$ 39,411
Over time sales, percentage	10.60%	15.30%	12.10%	17.10%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 21,440	$ 16,013	$ 37,755	$ 26,994
Over time sales, percentage	14.50%	12.20%	14.30%	11.70%