Income Taxes - Schedule of Net Deferred Tax Assets (Liabilities) (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Deferred tax assets
Lease liability	$ 5,022	$ 6,094
Tax credits	3,091	185
Accrued expenses	3,312	3,222
Deferred revenue	1,298	1,800
NOL carryforward	91,257	94,817
Other assets	5,227	7,119
Property and equipment	180
Intangible assets	28,988	22,843
Valuation allowance	(93,988)	(85,392)
Total net deferred tax assets	44,387	50,688
Deferred tax liabilities
Deferred commissions	(9,095)	(7,193)
Intangible assets	(35,943)	(44,568)
Property and equipment		(550)
Right-of-use asset	(3,668)	(4,609)
Other	1	(4)
Total deferred tax liabilities	(48,705)	(56,924)
Total deferred income tax liabilities	$ (4,318)	$ (6,236)	$ (16,082)