Revenue and Contract Balances - Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Change in Contract with Customer, Liability [Roll Forward]
Balance, beginning of period	$ 2,566	$ 2,023	$ 1,975	$ 1,585
Add: net increase in current period contract liabilities	1,591	1,710	2,239	1,922
Less: revenue recognized from beginning balance	(1,690)	(1,654)	(1,747)	(1,428)
Balance, end of period	$ 2,467	$ 2,079	$ 2,467	$ 2,079