Revenue - Over Time Sales (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Disaggregation of Revenue
Over time sales, amount	$ 34,565	$ 30,900	$ 104,255	$ 97,305
Over time sales, percentage	23.80%	23.80%	25.50%	27.00%
Over time input method
Disaggregation of Revenue
Over time sales, amount	$ 12,642	$ 14,380	$ 44,577	$ 53,791
Over time sales, percentage	8.70%	11.10%	10.90%	14.90%
Over time output method
Disaggregation of Revenue
Over time sales, amount	$ 21,923	$ 16,520	$ 59,678	$ 43,514
Over time sales, percentage	15.10%	12.70%	14.60%	12.10%