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Revenue - Over Time Sales (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Disaggregation of Revenue |  |  |  |
Over time sales, amount | $ 37,164 | $ 36,102 | $ 69,690 | $ 66,405
Over time sales, percentage | 25.10% | 27.50% | 26.40% | 28.80%
Over time input method |  |  |  |
Disaggregation of Revenue |  |  |  |
Over time sales, amount | $ 15,724 | $ 20,089 | $ 31,935 | $ 39,411
Over time sales, percentage | 10.60% | 15.30% | 12.10% | 17.10%
Over time output method |  |  |  |
Disaggregation of Revenue |  |  |  |
Over time sales, amount | $ 21,440 | $ 16,013 | $ 37,755 | $ 26,994
Over time sales, percentage | 14.50% | 12.20% | 14.30% | 11.70%

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