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Revenue from Contracts with Customers - Additional Information (Details) - USD ($)
$ in Thousands
3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Dec. 31, 2022
Disaggregation Of Revenue [Line Items]          
Revenue remaining performance obligation amount $ 58,197   $ 58,197    
Accounts Receivable          
Disaggregation Of Revenue [Line Items]          
Contract assets 3,533   3,533   $ 2,674
Deferred Revenue          
Disaggregation Of Revenue [Line Items]          
Revenue $ 3,368 $ 2,855 $ 10,605 $ 8,491