Stock-Based Compensation - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Obligation with Joint and Several Liability Arrangement [Line Items]
Total stock-based compensation expense	$ 3,490	$ 3,785	$ 10,257	$ 9,356
Cost of sales - contracts
Obligation with Joint and Several Liability Arrangement [Line Items]
Total stock-based compensation expense	32	72	116	256
Selling, general and administrative
Obligation with Joint and Several Liability Arrangement [Line Items]
Total stock-based compensation expense	$ 3,458	$ 3,713	$ 10,141	$ 9,100