Deferred Revenue - Summary of Deferred Service Contract Revenue (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Change in Contract with Customer, Liability [Roll Forward]
Beginning balance	$ 14,007	$ 11,527	$ 13,498	$ 10,825
Add: Payments received from current period sales	5,005	5,738	15,140	14,755
Less: Revenue recognized from current period sales	(405)	(487)	(4,902)	(4,569)
Less: Revenue recognized from beginning balance	(5,499)	(4,377)	(10,628)	(8,610)
Ending balance	$ 13,108	$ 12,401	$ 13,108	$ 12,401