Contract Assets and Contract Liabilities - Additional Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Contract liabilities	$ 13,833		$ 13,833		$ 11,956
Contract liabilities, non-current	3,500		3,500		$ 3,000
Revenue from contract liabilities	2,400	$ 3,400	9,300	$ 10,300
Revenue recognized from contract liabilities	$ 5,900	$ 6,400	$ 16,998	$ 16,500