Contract Assets and Contract Liabilities - Opening and Closing Balances of Company's Contract Liability (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Contract with Customer, Contract Asset, Contract Liability, and Receivable [Abstract]
Balance at December 31, 2022			$ 15,003
Payments received			19,367
Revenue recognized	$ (5,900)	$ (6,400)	(16,998)	$ (16,500)
Foreign currency fluctuation			67
Balance at September 30, 2023	$ 17,305		$ 17,305