Summary of Significant Accounting Policies - Disaggregation of revenue (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022
Disaggregation of Revenue [Line Items]
Total revenues	$ 40,971	$ 34,141
Revenues | Geographic Region
Disaggregation of Revenue [Line Items]
Total revenues	$ 40,971	$ 34,141
Total net revenues percent	100.00%	100.00%
Americas | Revenues | Geographic Region
Disaggregation of Revenue [Line Items]
Total revenues	$ 25,572	$ 21,938
Total net revenues percent	62.40%	64.30%
Europe, Middle East and Africa (EMEA) | Revenues | Geographic Region
Disaggregation of Revenue [Line Items]
Total revenues	$ 5,903	$ 4,310
Total net revenues percent	14.40%	12.60%
Asia Pacific (APAC) | Revenues | Geographic Region
Disaggregation of Revenue [Line Items]
Total revenues	$ 9,496	$ 7,893
Total net revenues percent	23.20%	23.10%
United States
Disaggregation of Revenue [Line Items]
Total revenues	$ 25,000	$ 21,500