Revenue Recognition - Changes in Balance of Deferred Revenues (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Revenue Recognition
Beginning balance	$ 30,778	$ 28,722
Increase in deferred revenues	35,573	28,978
Reclasses from deferred revenues to other short-term liabilities	(522)	(337)
Revenue recognized during the period that was included in deferred revenues at the beginning of the period	(10,564)	(8,782)
Revenue recognized from performance obligations satisfied within the same period	(19,525)	(17,803)
Ending Balance	$ 35,740	$ 30,778