Revenue and Related Matters - Costs to obtain a contract (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Change in the balance of costs to obtain a contract
Balance at beginning of period	$ 377	$ 440
Deferral of costs to obtain a contract	414	1,182
Amortization of costs to obtain a contract	(491)	(914)
Balance at end of period	300	708
Impairment loss	$ 0	$ 0