Revenue from Contracts with Customers - Contract Asset and Liability (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Change In Contract With Customer, Asset [Roll Forward]
Beginning of period balance	$ 13,975	$ 4,520	$ 4,306
Commission costs and upfront payments to a customer capitalized in period	7,837	14,270	3,779
Reimbursement of previously capitalized upfront payments to customers	(6,774)	0	0
Amortization of contract assets	(5,939)	(4,815)	(3,565)
End of period balance	9,099	13,975	4,520
Change In Contract With Customer, Liability [Roll Forward]
Beginning of period balance	18,332	14,837	12,529
Revenue deferred and acquired in period	22,861	18,617	13,947
Revenue recognized from amounts included in contract liabilities	(18,308)	(15,122)	(11,639)
End of period balance	$ 22,885	$ 18,332	$ 14,837