Revenue and Contract Balances - Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Change in Contract with Customer, Liability [Roll Forward]
Balance, beginning of period	$ 2,467	$ 2,079	$ 1,975	$ 1,585
Add: net increase in current period contract liabilities	1,630	1,947	1,976	2,112
Less: revenue recognized from beginning balance	(2,045)	(1,847)	(1,899)	(1,518)
Balance, end of period	$ 2,052	$ 2,179	$ 2,052	$ 2,179