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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands | 3 Months Ended |
--- | --- | ---
Mar. 31, 2023 | Dec. 31, 2022
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract] |  |
Accrued revenue | $ 671 | $ 665
Costs and estimated profits in excess of billings | 14,538 | 15,139
Contract assets - current | 15,209 | 15,804
Contract assets - noncurrent | 2,413 | 2,638
Contract assets | 17,622 | 18,442
Decrease in contract with customer assets | $ (820) |
Decrease in contract with customer assets (as percent) | (4.00%) |
Contract with Customer, Liability [Abstract] |  |
Deferred revenue | $ 13,420 | 14,401
Billings in excess of costs and profits recognized | 421 | 305
Contract liabilities | 13,841 | $ 14,706
Decrease in contract with customer liabilities | $ (865) |
Decrease in contract with customer liability (as percent) | (6.00%) |

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- Definition Amount of increase (decrease) in revenue recognized for cumulative catch-up adjustment from change in measure of progress which increases (decreases) right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 606 -SubTopic 10 -Section 50 -Paragraph 10 -Subparagraph (b) -URI https://asc.fasb.org/extlink&oid=126920106&loc=SL49130551-203045 + Details
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