Revenue Recognition - Changes in Balance of Deferred Revenues (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Revenue Recognition
Beginning balance	$ 30,778	$ 28,722
Increase in deferred revenues	24,553	20,268
Reclass of unbilled revenues previously deferred		(337)
Revenue recognized during the period that was included in deferred revenues at the beginning of the period	(9,610)	(7,877)
Revenue recognized from performance obligations satisfied within the same period	(9,676)	(12,439)
Ending Balance	$ 36,045	$ 28,337