Contract Assets and Liabilities - Additional information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Allowance for doubtful accounts associated with contract assets	$ 601		$ 601		$ 499
Revenues recognized during period	$ 17,300	$ 25,800	$ 107,000	$ 58,600