Revenue Recognition - Changes in Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Revenue from Contract with Customer [Abstract]
Deferred revenue, Balance at Beginning of Period	$ 3,796	$ 3,300	$ 3,733	$ 3,740
Deferred revenue, Billings	2,330	2,052	4,228	3,274
Deferred revenue, Revenue Recognized	(1,767)	(1,819)	(3,602)	(3,481)
Deferred revenue, Balance at End of Period	$ 4,359	$ 3,533	$ 4,359	$ 3,533