Segment Reporting - Revenue by Geographic Areas (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Segment Reporting Information [Line Items]
Total revenue	$ 122,265	$ 126,902	$ 248,124	$ 251,070
Operating Segments
Segment Reporting Information [Line Items]
Total revenue	122,265	126,902	248,124	251,070
Operating Segments | United States
Segment Reporting Information [Line Items]
Total revenue	96,321	100,655	194,067	196,151
Operating Segments | Europe
Segment Reporting Information [Line Items]
Total revenue	25,944	23,391	54,057	47,977
Operating Segments | Japan
Segment Reporting Information [Line Items]
Total revenue	$ 0	$ 2,856	$ 0	$ 6,942