Revenue from Contracts with Customers - Deferred Revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2024	Mar. 31, 2023
Contract with Customer, Liability [Roll Forward]
Beginning of the period contract liability	$ 7,480	$ 7,084
Revenue recognized from contract liabilities included in the beginning balance	(1,497)	(1,119)
Increases due to cash received, net of amounts recognized in revenue during the period	170	577
End of the period contract liability	$ 6,153	$ 6,542