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Revenue Recognition - Contract Balances (Details) - USD ($)
$ in Thousands
 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Revenue from External Customer [Line Items]        
Contract assets $ 10,400 $ 16,700 $ 16,200 $ 17,400
Contract liabilities 17,600 33,500 31,900 52,500
Revenue recognized 31,500 41,000    
Contract liabilities increase due to cash received 2,700 2,600    
Write-down of contract liabilities 11,400      
Contract assets reclassified into accounts receivable 25,100 18,500    
Contract assets decrease, licensing contract modification 6,600 1,300    
Accounts receivable   12,100   13,300
Disposal Group, Held-for-sale, Not Discontinued Operations        
Revenue from External Customer [Line Items]        
Deferred revenues 0 800 282 1,100
Receivables, net of allowance for credit losses $ 183 $ 500 $ 4,206 $ 800