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Revenue from Contracts with Customers - Contract Asset and Liability Balances (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Change in Contract Asset Balance        
Beginning of period balance $ 4,603 $ 4,932 $ 4,306 $ 4,578
Commission costs and upfront payments to a customer capitalized in period 1,051 657 2,157 1,822
Amortization of contract assets (883) (871) (1,692) (1,682)
End of period balance 4,771 4,718 4,771 4,718
Change In Contract With Customer, Liability [Roll Forward]        
Beginning of period balance 13,656 12,102 12,529 10,498
Revenue deferred in period 3,648 2,173 7,449 5,693
Revenue recognized from amounts included in contract liabilities (2,285) (2,738) (4,959) (4,654)
End of period balance $ 15,019 $ 11,537 $ 15,019 $ 11,537