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Contract Assets and Contract Liabilities - Opening and Closing Balances of Company's Contract Liability (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]        
Balance at December 31, 2022     $ 15,003  
Payments received     13,541  
Revenue recognized $ (6,200) $ (5,800) (11,118) $ (10,100)
Foreign currency fluctuation     105  
Balance at June 30, 2023 $ 17,531   $ 17,531