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Accounts Receivable and Contract Assets (Details) - USD ($)
$ in Thousands
 3 Months Ended
Mar. 31, 2023
Dec. 31, 2022
Accounts Receivable and Contract Assets [Abstract]    
Accounts receivable - customers $ 5,923 $ 7,069
Other receivables 371 487
Accounts receivable 6,294 7,556
Less: allowance for doubtful accounts (875) (855)
Accounts receivable, net 5,419 6,701
Unbilled revenue 3,473 $ 3,290
Change in accounts receivable - customers (1,146)  
Change in other receivables (116)  
Change in accounts receivable (1,262)  
Change in allowance for doubtful accounts (20)  
Change in accounts receivable, net (1,282)  
Change in unbilled revenue $ 183