Accounts Receivable and Contract Assets, Net - Schedule of Contract Assets, Net, Included in Deferred Costs and Other Current Assets on Consolidated Balance Sheets (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Accounts Receivable, after Allowance for Credit Loss [Abstract]
Contract asset amortized cost	$ 11,216	$ 8,525
Allowance for credit losses	(989)	(1,015)
Net contract asset	$ 10,227	$ 7,510