Revenue from Contracts with Customers - Contract Asset and Liability Balances (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Jun. 30, 2024	Jun. 30, 2023
Change In Contract With Customer, Asset [Roll Forward]
Beginning of period balance	$ 10,466	$ 13,879	$ 9,099	$ 13,975
Commission costs and upfront payments to a customer capitalized in period	2,235	1,547	5,347	3,220
Amortization of contract assets	(1,796)	(1,845)	(3,541)	(3,614)
End of period balance	10,905	13,581	10,905	13,581
Change In Contract With Customer, Liability [Roll Forward]
Beginning of period balance	24,212	20,231	22,885	18,332
Revenue deferred in period	7,549	5,719	13,973	11,659
Revenue recognized from amounts included in contract liabilities	(5,854)	(4,490)	(10,951)	(8,531)
End of period balance	$ 25,907	$ 21,460	$ 25,907	$ 21,460