Revenue from Contracts with Customers - Contract Asset and Liability Balances (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Change in Contract Asset Balance
Beginning of period balance	$ 4,480	$ 4,603	$ 4,520	$ 4,306
Commission costs and upfront payments to a customer capitalized in period	3,921	1,051	4,727	2,157
Amortization of contract assets	(986)	(883)	(1,832)	(1,692)
End of period balance	7,415	4,771	7,415	4,771
Change In Contract With Customer, Liability [Roll Forward]
Beginning of period balance	15,619	13,656	14,837	12,529
Revenue deferred in period	5,387	3,648	9,377	7,449
Revenue recognized from amounts included in contract liabilities	(3,765)	(2,285)	(6,973)	(4,959)
End of period balance	$ 17,241	$ 15,019	$ 17,241	$ 15,019