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Revenue - Additional Information (Details) - USD ($) | 3 Months Ended | 6 Months Ended |
--- | --- | --- | ---
Jun. 30, 2024 | Jun. 30, 2023 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |
Accumulated deficit | $ 71,282,000 |  | $ 71,282,000 |  | $ 90,484,000
Deferred revenue | 139,956,000 |  | 139,956,000 |  | 141,334,000
Revenue recognized | 27,900,000 | $ 26,100,000 | 49,700,000 | $ 51,300,000 |
Asset impairment charges for contract assets |  |  | 0 |  |
Deferred contract acquisition costs | 6,347,000 |  | 6,347,000 |  | 6,177,000
Deferred Sales Commissions |  |  |  |  |
Revenue, Initial Application Period Cumulative Effect Transition [Line Items] |  |  |  |  |
Deferred contract acquisition costs | 4,100,000 |  | 4,100,000 |  | 4,400,000
Amortization | 2,000,000.0 | $ 1,500,000 | 3,600,000 | $ 3,400,000 |
Impairment loss of contract acquisition costs |  |  | 0 |  |
Deferred contract acquisition costs | $ 6,400,000 |  | $ 6,400,000 |  | $ 6,200,000

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