Revenues - Assets and Liabilities (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Unbilled receivable	$ 22,444	$ 20,663
ASUS
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Unbilled receivable	15,167	10,125
Receivable from the U.S. government	91,298	85,456
Contract assets	13,473	14,982
Contract liabilities	$ 560	$ 903