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Revenue - Disaggregation of revenue, customers over 10% of revenue (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue $ 2,090 $ 9,979 $ 8,341
Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue 2,009 8,750 8,193
Customer A | Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue 0 0 1,518
Customer B | Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue 1,500 1,500 896
Customer C | Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue 0 0 2,043
Customer D | Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue 0 7,250 1,736
Customer E | Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue 0 0 2,000
Customer F | Over 10 percent of revenue      
Disclosure of disaggregation of revenue from contracts with customers [line items]      
Contract revenue $ 509 $ 0 $ 0