Revenue from Contracts with Customers - Contract Asset and Liability (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Change In Contract With Customer, Asset [Roll Forward]
Beginning of period balance	$ 4,520	$ 4,306	$ 4,578
Commission costs and upfront payments to a customer capitalized in period	14,270	3,779	3,262
Amortization of contract assets	(4,815)	(3,565)	(3,534)
End of period balance	13,975	4,520	4,306
Change In Contract With Customer, Liability [Roll Forward]
Beginning of period balance	14,837	12,529	10,498
Revenue deferred and acquired in period	18,617	13,947	12,247
Revenue recognized from amounts included in contract liabilities	(15,122)	(11,639)	(10,216)
End of period balance	$ 18,332	$ 14,837	$ 12,529