Revenue from Contracts with Customers - Amortized and Capitalized Costs (Details) - USD ($) $ in Thousands	3 Months Ended	9 Months Ended
Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Capitalized Contract Cost [Roll Forward]
Beginning Balance	$ 8,742	$ 8,427	$ 8,646	$ 8,147
Commission payments	755	983	2,439	2,630
Contract asset amortization	(822)	(729)	(2,410)	(2,096)
Ending Balance	$ 8,675	$ 8,681	$ 8,675	$ 8,681

Amount, after accumulated amortization and accumulated impairment loss, of asset recognized from cost incurred to obtain or fulfill contract with customer.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 340
-SubTopic 40
-Name Accounting Standards Codification
-Section 50
-Paragraph 3
-Subparagraph (a)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147479483/340-40-50-3

Name:	us-gaap_CapitalizedContractCostNet
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant