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Revenue - Schedule of Changes in Contract Assets and Contract Liabilities (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Contract with Customer, Asset, after Allowance for Credit Loss [Abstract]
Accrued revenue	$ 771	$ 665
Costs and estimated profits in excess of billings	8,440	15,139
Contract assets - current	9,211	15,804
Contract assets - noncurrent	1,637	2,638
Contract assets	10,848	18,442
Increase (decrease) in contract with customer assets	$ (7,594)
Increase (decrease) in contract with customer assets (as percent)	(41.00%)
Contract with Customer, Liability [Abstract]
Deferred revenue	$ 14,140	14,401
Billings in excess of costs and profits recognized	4,739	305
Contract liabilities	18,879	$ 14,706
Increase (decrease) in contract with customer liabilities	$ 4,173
Increase (decrease) in contract with customer liability (as percent)	28.00%

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