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Revenue Recognition - Contract with Customer (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021
Accounts receivable, trade |  |
Capitalized Contract Cost [Line Items] |  |
Contract with customer, asset | $ 215,726 | $ 213,584
Change in accounts receivable, trade | $ 2,142 |
Contract asset percent change | 1.00% |
Unbilled receivables |  |
Capitalized Contract Cost [Line Items] |  |
Contract with customer, asset | $ 10,765 | 7,961
Change in unbilled receivables | $ 2,804 |
Contract asset percent change | 35.00% |
Unearned revenue |  |
Capitalized Contract Cost [Line Items] |  |
Unearned revenue | $ 15,496 | $ 7,770
Change in unearned revenue | $ 7,726 |
Contract liability percent change | 99.00% |

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