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Revenue - Schedule of Allowance for Credit Losses (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
--- | --- | ---
Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Accounts Receivable |  |  |  |
Accounts Notes And Loans Receivable [Line Items] |  |  |  |
Beginning balance | $ 2,067 | $ 1,962 | $ 1,950 | $ 2,245
Provision for credit losses | 186 | 201 | 322 | 21
Recoveries/charge-off | (41) | (358) | (60) | (461)
Ending balance | 2,212 | 1,805 | 2,212 | 1,805
Unbilled Contracts Receivable |  |  |  |
Accounts Notes And Loans Receivable [Line Items] |  |  |  |
Beginning balance | 350 | 369 | 369 | 480
Provision for credit losses | (25) | (63) | (44) | (174)
Ending balance | $ 325 | $ 306 | $ 325 | $ 306

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