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Revenue Recognition - Additional Information (Details) | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Jun. 30, 2021 USD ($) Customer | Dec. 31, 2020 USD ($) | Jun. 30, 2020 USD ($) Customer | Mar. 31, 2020 USD ($) | Dec. 31, 2019 USD ($) | Jun. 30, 2021 USD ($) Customer | Jun. 30, 2020 USD ($) Customer | Sep. 30, 2020 USD ($)
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues | $ 96,801,000 | $ 93,643,000 | $ 75,197,000 | $ 86,823,000 | $ 77,705,000 | $ 289,106,000 | $ 239,725,000 | $ 330,967,000
Contract acquisition costs |  |  |  |  |  | 6,100,000 |  |
Contract acquisition cost, amortization | 600,000 |  | 300,000 |  |  | 1,500,000 | 900,000 |
Contract acquisition cost, impairment |  |  |  |  |  | 0 |  |
Capitalized contract cost, net | 40,800,000 |  |  |  |  | 40,800,000 |  |
Capitalized contract cost, amortization | 3,000,000.0 |  | 4,000,000.0 |  |  | 10,500,000 | 9,300,000 |
Capitalized contract cost, impairment |  |  |  |  |  | 0 |  |
Customer One |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues | 19,300,000 |  | 19,200,000 |  |  | 54,500,000 | 56,400,000 |
Customer Two |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues | 12,700,000 |  | 8,000,000.0 |  |  | 37,400,000 |  |
Customer Three |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues |  |  | 7,800,000 |  |  |  |  |
United States |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues | 31,632,000 |  | 27,969,000 |  |  | 100,507,000 | 99,907,000 |
Germany |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues | 24,519,000 |  | 21,082,000 |  |  | 81,230,000 | 61,401,000 |
Japan |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Revenues | $ 19,032,000 |  | $ 11,727,000 |  |  | $ 45,484,000 | $ 38,656,000 |
Revenues | Customer Concentration Risk |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Number of customers accounted for revenues | Customer | 2 |  | 3 |  |  | 2 | 1 |
Revenues | Customer Concentration Risk | Customer One |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Percentage of revenue | 20.00% |  | 25.60% |  |  | 18.80% | 23.50% |
Revenues | Customer Concentration Risk | Customer Two |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Percentage of revenue | 13.10% |  | 10.60% |  |  | 12.90% |  |
Revenues | Customer Concentration Risk | Customer Three |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Percentage of revenue |  |  | 10.40% |  |  |  |  |
Minimum |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Connected services contract term |  |  |  |  |  | 1 year |  |
Contract acquisition cost, deferred and amortized over benefit period |  |  |  |  |  | 1 year |  |
Contract term | 1 year |  |  |  |  | 1 year |  |
Minimum | Revenues | United States | Geographic Concentration Risk |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Percentage of revenue | 10.00% |  | 10.00% |  |  | 10.00% | 10.00% |
Minimum | Revenues | Germany | Geographic Concentration Risk |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Percentage of revenue | 10.00% |  | 10.00% |  |  | 10.00% | 10.00% |
Minimum | Revenues | Japan | Geographic Concentration Risk |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Percentage of revenue | 10.00% |  | 10.00% |  |  | 10.00% | 10.00% |
Maximum |  |  |  |  |  |  |  |
Disaggregation Of Revenue [Line Items] |  |  |  |  |  |  |  |
Connected services contract term |  |  |  |  |  | 5 years |  |
Contract acquisition costs, expected benefit period |  |  |  |  |  | 1 year |  |
Contract acquisition cost, deferred and amortized over benefit period |  |  |  |  |  | 8 years |  |
Contract term | 8 years |  |  |  |  | 8 years |  |

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