Revenues from Contracts with Customers - Narrative (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022	Dec. 31, 2022
Revenue from Contract with Customer [Abstract]
Deferred revenue	$ 2,300		$ 2,300		$ 2,900
Deferred revenue, revenue recognized	200	$ 700	1,700	$ 2,500
Revenue, remaining performance obligation, amount	$ 164,080		$ 164,080