Revenue and Customers - Contract Assets, and Contract Liabilities with Customers (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022	Dec. 31, 2021
Revenue from Contract with Customer [Abstract]
Current customer contract assets	$ 2,824	$ 11,169
Noncurrent customer contract assets	347	368
Total customer contract assets	3,171	11,537	$ 7,928	$ 5,744
Current deferred revenue	(19,160)	(40,214)
Noncurrent deferred revenue	(14,403)	(19,583)
Total deferred revenue	$ (33,563)	$ (59,797)	$ (41,300)	$ (27,755)