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Details of Selected Balance Sheet Accounts - Accounts Receivable (Details) - USD ($)
$ in Thousands
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 185,990 $ 223,995
Allowance for doubtful accounts (5,073) (5,226)
Accounts receivable, net $ 180,917 $ 218,769
Allowance for doubtful accounts as a percentage of total accounts receivable 3.00% 2.00%
Trade    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 131,726 $ 145,540
Unbilled revenue    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 26,796 29,679
Contract assets    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable 23,714 42,599
Other    
Accounts, Notes, Loans and Financing Receivable [Line Items]    
Total accounts receivable $ 3,754 $ 6,177