Goodwill and Intangible Assets, Net - Net Carrying Amount of Intangible Assets (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Finite-lived Intangible Assets [Roll Forward]
Beginning balance	$ 82,458	$ 91,406
Intangible assets acquired	14,515	9,485
Capitalized software development costs	882
Amortization	(19,291)	(18,433)	$ (17,100)
Ending balance	78,564	82,458	91,406
Customer Relationships
Finite-lived Intangible Assets [Roll Forward]
Beginning balance	47,522	59,426
Intangible assets acquired	2,395	0
Capitalized software development costs	0
Amortization	(10,623)	(11,904)
Ending balance	39,294	47,522	59,426
Developed Technology
Finite-lived Intangible Assets [Roll Forward]
Beginning balance	33,553	30,157
Intangible assets acquired	11,583	9,335
Capitalized software development costs	0
Amortization	(7,962)	(5,939)
Ending balance	37,174	33,553	30,157
Trade Name
Finite-lived Intangible Assets [Roll Forward]
Beginning balance	1,383	1,823
Intangible assets acquired	537	150
Capitalized software development costs	0
Amortization	(703)	(590)
Ending balance	1,217	1,383	1,823
Capitalized Software Development Costs
Finite-lived Intangible Assets [Roll Forward]
Beginning balance	0	0
Intangible assets acquired	0	0
Capitalized software development costs	882
Amortization	(3)	0
Ending balance	$ 879	$ 0	$ 0