Deferred Revenue - Summary of Deferred Service Contract Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Change in Contract with Customer, Liability [Roll Forward]
Beginning balance	$ 13,886	$ 11,064	$ 13,498	$ 10,825
Add: Payments received	5,939	5,199	11,087	10,032
Less: Revenue from current period sales	(589)	(443)	(2,291)	(1,374)
Less: Revenue recognized from beginning balance	(5,089)	(4,293)	(8,147)	(7,956)
Ending balance	$ 14,147	$ 11,527	$ 14,147	$ 11,527