Revenue - Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	Jun. 30, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets - current	$ 135	$ 621
Contract assets - non-current	2,106	1,323
Total contract assets	2,241	1,944
Deferred revenue - current	12,971	17,048
Deferred revenue - non-current	4,954	4,202
Total deferred revenue	17,925	21,250
Prepaid expenses and other current assets
Disaggregation of Revenue [Line Items]
Contract assets - current	134	621
Other assets
Disaggregation of Revenue [Line Items]
Contract assets - non-current	2,107	1,323
Accrued expenses and other current liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - current	12,971	17,048
Other liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - non-current	$ 4,954	$ 4,202