Revenue Recognition - Disaggregation of Revenue (Details) - USD ($) $ in Thousands	3 Months Ended								12 Months Ended
	Dec. 31, 2023	Sep. 30, 2023	Jun. 30, 2023	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Revenues	$ 182,440	$ 186,193	$ 175,858	$ 159,101	$ 147,324	$ 148,009	$ 137,833	$ 132,402	$ 703,592	$ 565,568	$ 505,198
Revenue, remaining performance obligation, percentage									100.00%	100.00%
Revenue recognized over time
Disaggregation of Revenue [Line Items]
Revenues									$ 44,317	$ 35,695
Revenue recognized over time | Service Concentration Risk | Revenue Benchmark
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, percentage									6.30%	6.30%
Revenue recognized at a point in time
Disaggregation of Revenue [Line Items]
Revenues									$ 659,275	$ 529,873
Revenue recognized at a point in time | Product Concentration Risk | Revenue Benchmark
Disaggregation of Revenue [Line Items]
Revenue, remaining performance obligation, percentage									93.70%	93.70%