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Revenue Recognition - Additional Information (Details)
3 Months Ended 6 Months Ended 12 Months Ended
Mar. 31, 2021
USD ($)
Customer
Dec. 31, 2020
USD ($)
Jun. 30, 2020
USD ($)
Mar. 31, 2020
USD ($)
Customer
Dec. 31, 2019
USD ($)
Mar. 31, 2021
USD ($)
Customer
Mar. 31, 2020
USD ($)
Customer
Sep. 30, 2020
USD ($)
Disaggregation Of Revenue [Line Items]                
Revenues $ 98,662,000 $ 93,643,000 $ 75,197,000 $ 86,823,000 $ 77,705,000 $ 192,305,000 $ 164,528,000 $ 330,967,000
Contract acquisition costs           5,800,000    
Contract acquisition cost, amortization 400,000     300,000   800,000 600,000  
Contract acquisition cost, impairment           0    
Capitalized contract cost, net 41,700,000         41,700,000    
Capitalized contract cost, amortization 3,100,000     2,600,000   7,400,000 5,300,000  
Capitalized contract cost, impairment           0    
Customer One                
Disaggregation Of Revenue [Line Items]                
Revenues 17,400,000     19,100,000   35,200,000 37,100,000  
Customer Two                
Disaggregation Of Revenue [Line Items]                
Revenues 17,300,000     9,700,000   24,800,000    
United States                
Disaggregation Of Revenue [Line Items]                
Revenues 36,781,000     36,742,000   68,875,000 71,938,000  
Germany                
Disaggregation Of Revenue [Line Items]                
Revenues 24,667,000     20,102,000   56,711,000 40,319,000  
Japan                
Disaggregation Of Revenue [Line Items]                
Revenues $ 13,779,000     $ 15,518,000   $ 26,452,000 $ 26,929,000  
Revenues | Customer Concentration Risk                
Disaggregation Of Revenue [Line Items]                
Number of customers accounted for revenues | Customer 2     2   2 1  
Revenues | Customer Concentration Risk | Customer One                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 17.70%     22.00%   18.30% 22.60%  
Revenues | Customer Concentration Risk | Customer Two                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 17.50%     11.10%   12.90%    
Minimum                
Disaggregation Of Revenue [Line Items]                
Connected services contract term           1 year    
Contract acquisition cost, deferred and amortized over benefit period           1 year    
Contract term 1 year         1 year    
Minimum | Revenues | United States | Geographic Concentration Risk                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 10.00%     10.00%   10.00% 10.00%  
Minimum | Revenues | Germany | Geographic Concentration Risk                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 10.00%     10.00%   10.00% 10.00%  
Minimum | Revenues | Japan | Geographic Concentration Risk                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 10.00%     10.00%   10.00% 10.00%  
Maximum                
Disaggregation Of Revenue [Line Items]                
Connected services contract term           5 years    
Contract acquisition costs, expected benefit period           1 year    
Contract acquisition cost, deferred and amortized over benefit period           8 years    
Contract term 8 years         8 years