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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