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Details of Selected Balance Sheet Accounts - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Concentration Risk [Line Items]        
Decrease in contract with customer, asset     $ (18,900)  
Contract with customer, asset, decrease due to revenue recognized     (37,300)  
Contract with customer, asset, reclassified to receivable     18,400  
Increase in deferred revenue     8,237 $ 4,647
Contract with customer, liability, increase due to billings     20,600  
Contract with customer, liability, revenue recognized     (12,400)  
Depreciation $ 11,200 $ 12,000 22,200 24,600
Amortization of intangible assets 4,300 $ 5,300 8,600 $ 10,400
Offshore/Manufactured Products        
Concentration Risk [Line Items]        
Fair value of the facility exceeded $ 6,900   $ 6,900  
United States | Geographic Concentration Risk | Accounts Receivable        
Concentration Risk [Line Items]        
Concentration risk (as a percent)     73.00%  
United Kingdom | Geographic Concentration Risk | Accounts Receivable        
Concentration Risk [Line Items]        
Concentration risk (as a percent)     10.00%