Revenue Recognition - Changes in Balance of Deferred Revenues (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Revenue Recognition
Beginning balance	$ 35,740	$ 30,778
Increase in deferred revenues	7,941	12,100
Revenue recognized during the period that was included in deferred revenues at the beginning of the period	(7,048)	(3,988)
Revenue recognized from performance obligations satisfied within the same period	(100)	(800)
Ending Balance	$ 36,533	$ 38,090