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Revenue Recognition (Tables)
 6 Months Ended
Jun. 30, 2023
Revenue Recognition and Deferred Revenue [Abstract]  
Schedule of performance obligations
The following table includes estimated revenues expected to be recognized in the future related to performance obligations that are unsatisfied (or partially satisfied) as of June 30, 2023.
Less than 1 yearGreater than 1 yearTotal
Product revenue$3,050 $— $3,050 
Subscription revenue42,140 92,099 134,239 
Service revenue17,883 43,124 61,007 
Total revenue$63,073 $135,223 $198,296 
Schedule of minimum future payments on noncancelable leases As of June 30, 2023, future minimum payments on noncancelable leases are as follows (in thousands):
Year Ending December 31:
2023 (six months remaining)$21,253 
202441,340 
202537,364 
202626,748 
20277,511 
Thereafter23 
$134,239 
Summary of rollforward of deferred revenue
The following table provides a rollforward of deferred revenue (in thousands):
Balance at December 31, 2022$35,968 
Revenue recognized in relation to the beginning of the year contract liability balance(12,140)
Revenue deferred36,253 
Balance at June 30, 2023$60,081 
Schedule of components of lease revenue
The following table presents the Company’s components of lease revenue (in thousands):
Three Months Ended
June 30,		Six Months Ended
June 30,
2023202220232022
Revenue from sales-type leases$— $— $— $1,106 
Interest income on lease receivables51 61 104 110 
Lease income - operating leases7,964 4,006 14,430 7,010 
Total lease revenue$8,015 $4,067 $14,534 $8,226 
Summary of company's revenue by revenue stream
The following table presents the Company’s revenue by revenue stream (in thousands):

Three Months Ended
June 30,		Six Months Ended
June 30,
2023202220232022
Product revenue$7,243 $4,146 $15,997 $9,340 
Leased equipment7,964 4,006 14,430 7,010 
SaaS, maintenance, and other revenue4,121 729 6,899 1,097 
Professional services497 189 1,080 333 
Total revenue$19,825 $9,070 $38,406 $17,780