Revenues - Additional information (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	$ 31,062	$ 33,243	$ 19,390
Contract with customer, deferred revenues, current	23,718	26,215
Contract with customer, deferred revenues, noncurrent	7,400
Sales commissions	24,500	$ 24,100	$ 20,600
Service-Type Warranties
Disaggregation of Revenue [Line Items]
Contract with customer, deferred revenues	11,100
Contract with customer, deferred revenues, current	6,200
Contract with customer, deferred revenues, noncurrent	$ 4,900