Annual report pursuant to Section 13 and 15(d)

Revenue Recognition - Narrative (Details)

v3.22.4
Revenue Recognition - Narrative (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Unbilled receivables $ 38,307 $ 31,882
Contract with customer, liability 6,400 7,100
Contract with customer, liability, revenue recognized 3,900 $ 5,100
Revenue, remaining performance obligation, amount $ 187,000  
Product Concentration Risk | Revenue Benchmark | Transferred at Point in Time    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Concentration risk, percentage 59.00% 54.00%
Product Concentration Risk | Revenue Benchmark | Transferred over Time    
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]    
Concentration risk, percentage 41.00% 46.00%