Revenue Recognition - Changes in Balance of Deferred Revenues (Details) - USD ($) $ in Thousands	6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022
Revenue Recognition
Beginning balance	$ 30,778	$ 28,722
Increase in deferred revenues	17,402	14,974
Revenue recognized during the period that was included in deferred revenues at the beginning of the period	(7,521)	(5,757)
Revenue recognized from performance obligations satisfied within the same period	(3,513)	(1,209)
Ending Balance	$ 37,146	$ 36,730