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Revenue - Schedule of Disaggregation of Revenue (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Disaggregation of Revenue [Line Items]        
Total revenues $ 174,741 $ 158,126 $ 505,929 $ 458,948
United States        
Disaggregation of Revenue [Line Items]        
Total revenues 159,859 146,492 461,336 418,510
International        
Disaggregation of Revenue [Line Items]        
Total revenues 14,882 11,634 44,593 40,438
Point in time        
Disaggregation of Revenue [Line Items]        
Total revenues 17,984 14,496 48,141 40,112
Over time        
Disaggregation of Revenue [Line Items]        
Total revenues $ 156,757 $ 143,630 $ 457,788 $ 418,836