Revenue Recognition - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation Of Revenue [Line Items]
Deferred sales commissions current	$ 20,000,000	$ 16,200,000
Deferred sales commissions noncurrent	26,600,000	21,400,000
Amortization expense for the deferred costs	19,600,000	18,300,000	$ 14,400,000
Impairment loss related to costs capitalized	0
Subscription Services, License and other
Disaggregation Of Revenue [Line Items]
Revenue recognized	225,700,000	214,800,000	157,600,000
Professional Services
Disaggregation Of Revenue [Line Items]
Revenue recognized	5,900,000	$ 6,800,000	$ 8,600,000
Revenue remaining performance obligation	10,000,000
Subscription Services And License
Disaggregation Of Revenue [Line Items]
Revenue remaining performance obligation	$ 494,100,000