Condensed Consolidated Balance Sheets (Unaudited) (Parenthetical) - USD ($) shares in Thousands, $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Statement of Financial Position [Abstract]
Allowance for credit losses on accounts receivable and unbilled receivables	$ 5,373	$ 5,153
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	5,000	5,000
Preferred stock, shares issued (in shares)	0	0
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	100,000	100,000
Common Stock, shares issued (in shares)	55,352	55,030
Common stock, shares outstanding (in shares)	45,069	44,747
Treasury stock, shares outstanding (in shares)	10,283	10,283