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Summary of Significant Accounting Policies - Narrative (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Increase (decrease) in deferred revenue     $ 6,169  
Revenue recognized that was included in deferred revenue at the beginning of each period $ 28,933 $ 24,123 45,829 $ 37,188
Aggregate amount of transaction price $ 1,282   $ 1,282  
Amortization period of deferred contract costs 24 months   24 months  
Foreign currency exchange gain (loss) $ (291) $ 410 $ (929) $ (206)
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2023-10-01        
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction [Line Items]        
Aggregate amount of transaction price $ 877   $ 877  
Remaining performance obligation, expected timing of satisfaction 12 months   12 months