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Revenue from Contracts with Customers - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]    
Weighted average benefit period 6 years  
Advanced billings and customer deposits $ 12,425 $ 11,128
Non-current contract liability $ 18,679 $ 19,749