Summary of Significant Accounting Policies - Opening and Closing Balances of the Company's Contract Assets and Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2022	Dec. 31, 2021
Contract assets, current portion
Beginning balance	$ 190
Ending balance	190
Change	0
Contract assets
Beginning balance	4,262
Ending balance	4,296
Change	34
Deferred Revenue, Current
Beginning balance	16,905
Ending balance	21,163
Change	4,258
Deferred Revenue
Beginning balance	25,921
Ending balance	25,507
Change	(414)
Deferred revenue related to leases, current portion	1,500	$ 1,400
Deferred revenue related to leases, noncurrent portion	$ 2,500	$ 2,800