Segment Reporting - Revenue by Geographic Areas (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Segment Reporting Information [Line Items]
Total revenue	$ 130,705	$ 121,721	$ 378,829	$ 372,791
Operating Segments
Segment Reporting Information [Line Items]
Total revenue	130,705	121,721	378,829	372,791
Operating Segments | United States
Segment Reporting Information [Line Items]
Total revenue	103,940	98,970	298,007	295,121
Operating Segments | Europe
Segment Reporting Information [Line Items]
Total revenue	26,765	21,464	80,822	69,441
Operating Segments | Japan
Segment Reporting Information [Line Items]
Total revenue	$ 0	$ 1,287	$ 0	$ 8,229