Revenue Recognition - Revenue Recognized (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Amounts included in contract liabilities at the beginning of the period:
Performance obligations satisfied	$ 2,038	$ 1,858
Changes in the period:
Changes in the estimated transaction price allocated to performance obligations satisfied in prior periods	279	7,645
Performance obligations satisfied from new activities in the period - contract revenue	136,273	95,251
Total revenues	$ 138,590	$ 104,754	$ 69,056