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Stock-Based Compensation - Stock-based Compensation Expense Included in Condensed Consolidated Statements of Operations (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | $ 43,387 | $ 38,830 | $ 23,844
Subscriptions |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | 925 | 996 | 1,199
Professional services |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | 6,055 | 5,309 | 3,131
Sales and marketing |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | 10,842 | 9,152 | 5,426
Research and development |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | 12,486 | 12,523 | 5,224
General and administrative |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Compensation Cost [Line Items] |  |  |
Total stock-based compensation expense | $ 13,079 | $ 10,850 | $ 8,864

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