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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