Revenue - Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	Sep. 30, 2023	Dec. 31, 2022
Disaggregation of Revenue [Line Items]
Contract assets - current	$ 1,771	$ 621
Contract assets - non-current	6,416	1,323
Total contract assets	8,187	1,944
Deferred revenue - current	12,180	17,048
Deferred revenue - non-current	4,501	4,202
Total deferred revenue	16,681	21,250
Prepaid expenses and other current assets
Disaggregation of Revenue [Line Items]
Contract assets - current	1,771	621
Other assets
Disaggregation of Revenue [Line Items]
Contract assets - non-current	6,416	1,323
Accrued expenses and other current liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - current	12,180	17,048
Other liabilities
Disaggregation of Revenue [Line Items]
Deferred revenue - non-current	$ 4,501	$ 4,202