Revenue - Contract with Customer (Details) $ in Thousands	9 Months Ended
	Sep. 30, 2023 USD ($)
Contract With Customer Asset After Allowance For Credit Loss Current [Roll Forward]
Balance as of December 31, 2022	$ 33,613
Net additions to contract assets	3,718
Transfers from contract asset balance to accounts receivable	(6,828)
Balance as of September 30, 2023	30,503
Contract With Customer Liability [Roll Forward]
Balance as of December 31, 2022	6,781
Revenue recognized from contract liabilities	(4,421)
Increase in billings in excess of cost, excluding revenue recognized	3,635
Other adjustments, including business divestiture	(1,904)
Balance as of September 30, 2023	$ 4,091