Revenue Recognition - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Disaggregation of Revenue [Line Items]
Revenues	$ 147,324	$ 148,009	$ 137,833	$ 132,402	$ 135,748	$ 128,738	$ 122,869	$ 117,842	$ 565,568	$ 505,198	$ 425,544
Revenue, remaining performance obligation, percentage									100.00%	100.00%
Revenue recognized over time
Disaggregation of Revenue [Line Items]
Revenues									$ 35,695	$ 28,524
Revenue recognized over time | Service Concentration Risk | Revenue Benchmark
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, percentage									6.30%	5.60%
Revenue recognized at a point in time
Disaggregation of Revenue [Line Items]
Revenues									$ 529,873	$ 476,674
Revenue recognized at a point in time | Product Concentration Risk | Revenue Benchmark
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, percentage									93.70%	94.40%