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Summary of Significant Accounting Policies - Revenue Recognition (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Summary of Significant Accounting Policies          
Software license revenue term of recognition period     1 year    
Contract with customer, receivable, after allowance for credit loss $ 12,761   $ 12,761   $ 11,309
Contract with customer, liability 49,217   49,217   55,024
Contract with customer, liability, revenue recognized     47,230    
Unsatisfied performance obligation 118,704   118,704    
Contract with customer liability revenue to be recognized in next twelve months $ 105,409   $ 105,409    
Percentage of contract with customer liability revenue to be recognized in next twelve months 88.80%   88.80%    
Deferred contract acquisition costs $ 654   $ 654   $ 981
Revenue 85,576 $ 84,700 $ 266,327 $ 249,011  
Minimum          
Summary of Significant Accounting Policies          
Subscription term     1 year    
Maximum          
Summary of Significant Accounting Policies          
Subscription term     3 years    
Transferred at Point in Time          
Summary of Significant Accounting Policies          
Revenue 9,916 10,851 $ 38,967 36,434  
Transferred over Time          
Summary of Significant Accounting Policies          
Revenue 21,414 17,541 59,092 49,875  
Service revenues earned over time          
Summary of Significant Accounting Policies          
Revenue $ 54,246 $ 56,308 $ 168,268 $ 162,702