Summary of Significant Accounting Policies - Trade Accounts Receivable (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Trade Accounts Receivable
Trade accounts receivable	$ 68,886	$ 50,042
Unbilled accounts receivable	11,915	10,997
Trade and unbilled accounts receivable	80,801	61,039
Less allowance for doubtful accounts	(218)	(86)	$ (289)
Accounts receivable, net	$ 80,583	$ 60,953