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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2023
Dec. 31, 2022
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]    
Accrued revenue $ 820 $ 665
Costs and estimated profits in excess of billings 12,592 15,139
Contract assets - current 13,412 15,804
Contract assets - noncurrent 2,106 2,638
Contract assets 15,518 18,442
Increase (decrease) in contract with customer assets $ (2,924)  
Increase (decrease) in contract with customer assets (as percent) (16.00%)  
Contract with Customer, Liability [Abstract]    
Deferred revenue $ 11,548 14,401
Billings in excess of costs and profits recognized 2,913 305
Contract liabilities 14,461 $ 14,706
Increase (decrease) in contract with customer liabilities $ (245)  
Increase (decrease) in contract with customer liability (as percent) (2.00%)