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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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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.

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