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Revenue - Narrative (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Revenue from Contract with Customer [Abstract]            
Extended service plan period     3 years      
Deferred revenue $ 23,100   $ 23,100   $ 18,600 $ 19,000
Contract with customer, liability, noncurrent 100   100   100 200
Revenue recognized 20,200 $ 21,400 18,000 $ 18,200    
Provision for sales returns and allowances 1,541 $ 1,609 1,541 $ 1,609 2,332 $ 2,338
Refund assets $ 600   $ 600   $ 900