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Revenues - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Revenue from Contract with Customer [Abstract]        
Contract with customer, liability, revenue recognized $ 41,100 $ 42,200 $ 47,900 $ 32,900
Decrease in accounts receivable, net     $ (2,845)  
Decrease in accounts receivable, net, percent     (12.00%)  
Decrease in contract assets     $ 1,253  
Decrease in contract assets, percent     10.00%  
Increase in deferred revenue     $ (3,073)  
Increase in deferred revenue, percent     (5.00%)