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Revenue Recognition - Additional Information (Details)
3 Months Ended 9 Months Ended 12 Months Ended
Jun. 30, 2021
USD ($)
Customer
Dec. 31, 2020
USD ($)
Jun. 30, 2020
USD ($)
Customer
Mar. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Jun. 30, 2021
USD ($)
Customer
Jun. 30, 2020
USD ($)
Customer
Sep. 30, 2020
USD ($)
Disaggregation Of Revenue [Line Items]                
Revenues $ 96,801,000 $ 93,643,000 $ 75,197,000 $ 86,823,000 $ 77,705,000 $ 289,106,000 $ 239,725,000 $ 330,967,000
Contract acquisition costs           6,100,000    
Contract acquisition cost, amortization 600,000   300,000     1,500,000 900,000  
Contract acquisition cost, impairment           0    
Capitalized contract cost, net 40,800,000         40,800,000    
Capitalized contract cost, amortization 3,000,000.0   4,000,000.0     10,500,000 9,300,000  
Capitalized contract cost, impairment           0    
Customer One                
Disaggregation Of Revenue [Line Items]                
Revenues 19,300,000   19,200,000     54,500,000 56,400,000  
Customer Two                
Disaggregation Of Revenue [Line Items]                
Revenues 12,700,000   8,000,000.0     37,400,000    
Customer Three                
Disaggregation Of Revenue [Line Items]                
Revenues     7,800,000          
United States                
Disaggregation Of Revenue [Line Items]                
Revenues 31,632,000   27,969,000     100,507,000 99,907,000  
Germany                
Disaggregation Of Revenue [Line Items]                
Revenues 24,519,000   21,082,000     81,230,000 61,401,000  
Japan                
Disaggregation Of Revenue [Line Items]                
Revenues $ 19,032,000   $ 11,727,000     $ 45,484,000 $ 38,656,000  
Revenues | Customer Concentration Risk                
Disaggregation Of Revenue [Line Items]                
Number of customers accounted for revenues | Customer 2   3     2 1  
Revenues | Customer Concentration Risk | Customer One                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 20.00%   25.60%     18.80% 23.50%  
Revenues | Customer Concentration Risk | Customer Two                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue 13.10%   10.60%     12.90%    
Revenues | Customer Concentration Risk | Customer Three                
Disaggregation Of Revenue [Line Items]                
Percentage of revenue     10.40%          
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