Consolidated Balance Sheets (Parenthetical) - USD ($) |
Mar. 31, 2023 |
Dec. 31, 2022 |
Mar. 31, 2022 |
|---|---|---|---|
| Statement of Financial Position [Abstract] | |||
| Accounts receivable, allowance | $ 4,784,000 | $ 4,861,000 | |
| Contract assets, allowance | $ 113,000 | $ 750,000 | |
| Temporary equity, shares authorized (in shares) | 250,000,000 | 250,000,000 | |
| Temporary equity, par value (in dollars per share) | $ 0.0001 | $ 0.0001 | |
| Temporary equity, shares issued (in shares) | 85,000 | 85,000 | |
| Temporary equity shares outstanding (in shares) | 85,000 | 85,000 | |
| Temporary equity, liquidation preference | $ 89,801 | $ 87,323 | |
| Common shares, par value (per share) | $ 0.0001 | $ 0.0001 | |
| Common shares, shares authorized (in shares) | 500,000,000 | ||
| Common shares, shares issued (in shares) | 83,992,565 | 82,266,160 | |
| Common shares, shares outstanding (in shares) | 83,992,565 | 82,266,160 | |
| Treasury stock (in shares) | 2,033,578 | 0 |