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Contract Assets and Liabilities - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]    
Allowance for doubtful accounts $ 385 $ 359
Revenues recognized during period $ 116,500 $ 72,200