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Contract Assets and Liabilities - Additional Information (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]    
Allowance for doubtful accounts $ 499 $ 385
Revenues recognized during period $ 117,300 $ 116,500