Revenue - Change in contract balances (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021
Contract assets:
Contract assets, beginning of period	$ 12,695
Decreases due to cash received	(12,466)
Changes to the contract assets at the beginning of the period as a result of changes in estimates	451
Changes during the year, net of reclassifications to receivables	14,392
Contract assets, end of period	15,072
Contract liabilities:
Contract liabilities, beginning of period	2,191	$ 1,982
Revenue recognized that was included in the contract liabilities balance at the beginning of the period	(1,903)	$ (1,404)
Increases due to cash received, excluding amounts recognized as revenue during the period	3,822
Contract liabilities, end of period	$ 4,110