Contract Assets and Liabilities - Additional information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Allowance for doubtful accounts associated with contract assets	$ 608		$ 608		$ 499
Revenues recognized during period	$ 16,300	$ 42,100	$ 114,000	$ 101,100