Revenue - Contract Balances (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Unbilled receivables (contract assets)	$ 49,992		$ 49,992	$ 42,423
Unbilled receivables (contract assets), $ Change			$ 7,569
Unbilled receivables (contract assets), % Change			18.00%
Contract liabilities	(41,640)		$ (41,640)	(27,857)
Contract liabilities, $ Change			$ (13,783)
Contract liabilities, % Change			49.00%
Net contract assets	8,352		$ 8,352	14,566
Net contract assets, $ Change			$ (6,214)
Net contract assets, % change			(43.00%)
Customer advances	$ 18,686		$ 18,686	$ 9,593
Revenue recognized	30.00%	40.00%	70.00%