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Accounting Policies - Additional Information (Details)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
USD ($)
segment
agency
unit
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Summary Of Significant Accounting Policies [Line Items]        
Number of operating segments | segment 1      
Number of reportable segments | segment 1      
Number of government agencies | agency 3      
Allowance for doubtful accounts $ 2,125 $ 1,400 $ 1,400 $ 600
Capitalized contract cost, amortization period 5 years      
Commission expense $ 39,400 32,400 23,300  
Number of reporting units | unit 1      
Foreign currency transaction gains (losses) $ (6,100) (3,700) 4,300  
Advertising expenses $ 5,800 $ 4,400 $ 6,000  
Sales Revenue, Net | Customer Concentration Risk | Foreign Customers        
Summary Of Significant Accounting Policies [Line Items]        
Concentration risk percentage 33.50% 34.00% 33.80%  
Sales Revenue, Net | Customer Concentration Risk | Government Agencies        
Summary Of Significant Accounting Policies [Line Items]        
Concentration risk percentage 19.20% 19.60% 18.10%  
Sales Revenue, Net | Customer Concentration Risk | Federal Government Agencies        
Summary Of Significant Accounting Policies [Line Items]        
Concentration risk percentage 4.50% 5.60% 6.60%