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Revenue Recognition (Tables)
 12 Months Ended
Dec. 31, 2021
Revenue Recognition [Abstract]  
Schedule of trade receivables, unbilled receivables, contract assets, and contract liabilities (deferred revenues) from contracts with customers
   December 31, 
   2021   2020 
Trade receivables (net of allowance for credit losses of $5,071 and $3,967 at December 31, 2020 and 2021, respectively)  $116,974   $91,986 
Unbilled receivables   19,614    14,842 
Contract assets   5,482    4,231 
Long-term trade receivables   1,318    1,410 
Deferred revenues (short-term contract liabilities)  $10,771   $8,793