Revenue and Contract Balances - Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Change in Contract with Customer, Liability [Roll Forward]
Balance, beginning of period	$ 2,180	$ 2,566	$ 1,958	$ 1,975
Add: net increase in current period contract liabilities	1,710	1,591	1,932	2,239
Less: revenue recognized from beginning balance	(1,873)	(1,690)	(1,873)	(1,747)
Balance, end of period	$ 2,017	$ 2,467	$ 2,017	$ 2,467