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Contract Assets and Contract Liabilities - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]          
Contract liabilities $ 13,895   $ 13,895   $ 11,956
Contract liabilities, non-current 3,600   3,600   $ 3,000
Revenue from contract liabilities 3,000 $ 3,300 7,000 $ 6,900  
Revenue recognized from contract liabilities $ 6,200 $ 5,800 $ 11,118 $ 10,100