Revenue and Contract Balances - Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Change in Contract with Customer, Liability [Roll Forward]
Balance, beginning of period	$ 2,017	$ 2,467	$ 1,958	$ 1,975
Add: net increase in current period contract liabilities	1,991	1,630	2,083	1,976
Less: revenue recognized from beginning balance	(1,913)	(2,045)	(1,946)	(1,899)
Balance, end of period	$ 2,095	$ 2,052	$ 2,095	$ 2,052