Revenues - Additional Information (Details) - USD ($)	3 Months Ended
Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Disaggregation Of Revenue [Line Items]
Contract assets	$ 1,727,000		$ 1,464,000
Capitalized cost	1,114,000	$ 1,141,000
Impairments of costs to obtain revenue contracts	0	0
Revenue remaining performance obligation	111,217,000
Sales and Marketing Expense
Disaggregation Of Revenue [Line Items]
Capitalized cost, amortization	$ 832,000	$ 554,000
Geographic Concentration Risk \| Revenue \| Revenue
Disaggregation Of Revenue [Line Items]
Concentration risk, percentage	5.00%	5.00%
Geographic Concentration Risk \| Revenue \| United Kingdom
Disaggregation Of Revenue [Line Items]
Concentration risk, percentage	10.00%	7.00%

Amount of amortization expense for asset recognized from cost incurred to obtain or fulfill contract with customer.

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For an entity that discloses a concentration risk in relation to quantitative amount, which serves as the "benchmark" (or denominator) in the equation, this concept represents the concentration percentage derived from the division.

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