Revenue - Summary of Changes in Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Dec. 31, 2022
Contract assets
Unbilled receivables, net	$ 17,322	$ 13,940
Contract assets	18,808	21,348
Total contract assets	36,130	35,288
Contract liabilities
Deferred revenue	41,502	$ 43,057
Change in contract assets
Unbilled receivables, net	3,382
Contract assets	(2,540)
Total contract assets	842
Change in contract liabilities
Deferred revenue	$ (1,555)