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Summary of Significant Accounting Policies - Revenue Recognition (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Concentration Risk [Line Items]
Revenue	$ 601,117	$ 573,152	$ 490,907
Recognized revenue	5,800
Revenue, Remaining Performance Obligation, Expected Timing of Satisfaction, Start Date [Axis]: 2024-01-01
Concentration Risk [Line Items]
Remaining performance obligation, amount	$ 8,100
Remaining performance obligation period	12 months
CPaaS, Usage-Based Fees
Concentration Risk [Line Items]
Revenue	$ 346,900	354,000	355,300
CPaaS, Service Fees
Concentration Risk [Line Items]
Revenue	$ 132,000	$ 120,600	$ 94,400

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