Revenue from Contracts with Customers - Contract Asset and Liability Balances (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Mar. 31, 2021
Change in Contract Asset Balance
Beginning of period balance	$ 4,520	$ 4,306
Commission costs and upfront payments to a customer capitalized in period	806	1,106
Amortization of contract assets	(846)	(809)
End of period balance	4,480	4,603
Change In Contract With Customer, Liability [Roll Forward]
Beginning of period balance	14,837	12,529
Revenue deferred in period	3,990	3,801
Revenue recognized from amounts included in contract liabilities	(3,208)	(2,674)
End of period balance	$ 15,619	$ 13,656