Revenue - Revenue by Geographic Areas (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Disaggregation of Revenue [Line Items]
Revenue	$ 503,877	$ 488,398	$ 488,098
Operating Segments
Disaggregation of Revenue [Line Items]
Revenue	503,877	488,398	488,098
Operating Segments | United States
Disaggregation of Revenue [Line Items]
Revenue	396,821	387,399	384,458
Operating Segments | Europe
Disaggregation of Revenue [Line Items]
Revenue	107,056	92,770	90,399
Operating Segments | Japan
Disaggregation of Revenue [Line Items]
Revenue	$ 0	$ 8,229	$ 13,241