Revenue from Contracts with Clients and Customers - Summary of Revenues Disaggregated (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Disaggregation of Revenue [Line Items]
Revenues	$ 67,922	$ 64,634	$ 137,186	$ 131,121
United States
Disaggregation of Revenue [Line Items]
Revenues	56,375	54,358	114,180	110,298
Canada
Disaggregation of Revenue [Line Items]
Revenues	1,066	1,090	2,350	2,322
Europe
Disaggregation of Revenue [Line Items]
Revenues	$ 10,481	$ 9,186	$ 20,656	$ 18,501