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Revenue Recognition - Other (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Dec. 31, 2022
Contract Liabilities
Deferred revenue	$ 20,738	$ 21,940
Uncompleted Performance Obligations
Amount remaining on uncompleted performance obligations	$ 395,500
Expected timing of satisfaction of performance obligations	over the next 18 months
Receivables, net
Contract Assets
Receivables, unbilled	$ 78,034	75,481
Uncompleted Performance Obligations
Retained receivables	66,700	63,000
Accrued liabilities
Contract Liabilities
Deferred revenue	$ 20,738	$ 21,940

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