Acquisitions - Shooter Detection Systems (Details) - USD ($) $ in Thousands		3 Months Ended	12 Months Ended
	Dec. 14, 2020	Jun. 30, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Business Acquisition [Line Items]
Measurement period adjustment			$ (2,625)	$ 63
Goodwill			$ 148,183	$ 112,901	$ 112,838
Shooter Detection Systems
Business Acquisition [Line Items]
Percentage of business acquired	100.00%
Cash paid to acquire business	$ 26,600
Purchase price adjustment increase (decrease)	(100)	$ 100
Measurement period adjustment		$ 100
Goodwill	7,239
Shooter Detection Systems | Customer Relationships
Business Acquisition [Line Items]
Intangible assets	$ 2,362
Weighted-average estimated useful life of intangible assets acquired (years)	6 years
Shooter Detection Systems | Developed Technology
Business Acquisition [Line Items]
Intangible assets	$ 13,522
Weighted-average estimated useful life of intangible assets acquired (years)	7 years
Shooter Detection Systems | Trade Name
Business Acquisition [Line Items]
Intangible assets	$ 512
Weighted-average estimated useful life of intangible assets acquired (years)	5 years