Revenue Recognition - Changes in Contract Assets (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue From Contract With Customer [Abstract]
Unbilled receivables, Balance at Beginning of Period	$ 2,929	$ 3,087
Unbilled receivables, Revenue Recognized In Advance of Billings	2,340	1,486
Unbilled receivables, Billings	(1,786)	(1,398)
Unbilled receivables, Balance at End of Period	$ 3,483	$ 3,175