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Revenue from Contracts with Customers - Information about Deferred Contract Costs (Details) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2024
Mar. 31, 2023
Capitalized Contract Cost [Line Items]    
Capitalized sales commissions and implementation costs $ 2,653 $ 2,838
Costs to Obtain Contracts | Sales and Marketing Expense    
Capitalized Contract Cost [Line Items]    
Amortization of deferred contract costs 1,551 1,474
Costs to Fulfill Contracts | Cost of Revenues    
Capitalized Contract Cost [Line Items]    
Amortization of deferred contract costs $ 1,549 $ 1,569