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Details of Selected Balance Sheet Accounts - Accounts Receivable (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 223,995 $ 190,551
Allowance for doubtful accounts (5,226) (4,471)
Accounts receivable, net $ 218,769 $ 186,080
Allowance for doubtful accounts as a percentage of total accounts receivable 2.00% 2.00%
Trade    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 145,540 $ 116,434
Unbilled revenue    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 29,679 24,389
Contract assets    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 42,599 39,755
Other    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 6,177 $ 9,973