Revenue Recognition - Changes in Balance of Deferred Revenues (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Revenue Recognition
Beginning balance	$ 30,778	$ 28,722
Increase in deferred revenues	12,100	10,508
Revenue recognized during the period that was included in deferred revenues at the beginning of the period	(3,988)	(3,889)
Revenue recognized from performance obligations satisfied within the same period	(800)	(884)
Ending Balance	$ 38,090	$ 34,457