Revenue from Contracts with Customers - Deferred Revenue (Details) - USD ($) $ in Thousands	9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022
Contract with Customer, Liability [Roll Forward]
Beginning of the period contract liability	$ 7,084	$ 9,448
Revenue recognized from contract liabilities included in the beginning balance	(3,055)	(3,629)
Increases due to cash received, net of amounts recognized in revenue during the period	3,191	1,596
End of the period contract liability	$ 7,220	$ 7,415