Revenue Recognition - Contract Assets and Liabilities (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Contract with Customer, Asset, Net [Abstract]
Current contract assets	$ 424	$ 1,898
Long-term contract assets	0	31
Total assets	424	1,929
Capitalized Contract Cost [Abstract]
Current capitalized commissions	937	800
Long-term capitalized commissions	257	715
Total capitalized commissions	1,194	1,515
Contract with Customer, Liability [Abstract]
Current contract liabilities	3,617	7,557
Long-term contract liabilities	0	19
Total contract liabilities	$ 3,617	$ 7,576