Revenue Information and Deferred Sales Commissions - Narrative (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Contract with Customer, Asset, Reclassified to Receivable	$ 900,000	$ 2,300,000
Contract asset balance	900,000	900,000
Sales commission
Revenue, Initial Application Period Cumulative Effect Transition [Line Items]
Deferred sales commission	1,500,000	1,800,000
Amortization of capitalized contract costs	1,200,000	$ 1,600,000	$ 1,800,000
Impairment loss	$ 0