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Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Thousands
 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Revenue from External Customer [Line Items]        
Contract assets $ 10,500 $ 17,200 $ 16,200 $ 17,400
Contract liabilities 34,800 51,900 31,900 $ 52,500
Revenue recognized 22,100 27,500    
Contract liabilities increase due to cash received 2,300 2,000    
Contract assets reclassified into accounts receivable 22,000 $ 24,300    
Contract assets increase, licensing contract modification 6,100      
Disposal Group, Held-for-sale, Not Discontinued Operations        
Revenue from External Customer [Line Items]        
Deferred revenues $ 0   $ 282