Revenue Recognition - Changes in Contract Liabilities (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue From Contract With Customer [Abstract]
Deferred revenue, Balance at Beginning of Period	$ 3,733	$ 3,740
Deferred revenue, Billings	1,898	1,221
Deferred revenue, Revenue Recognized	(1,835)	(1,661)
Deferred revenue, Balance at End of Period	$ 3,796	$ 3,300